Measurement method and device for fully mechanized working face

Abstract

The application discloses a kind of measurement method and device of fully mechanized working face.The method comprises the following steps: controlling radar device to move on fully mechanized working face, and in the process of radar device movement, control radar device to collect N frames of point cloud data of fully mechanized working face, wherein N is positive integer;Based on N frames of point cloud data, the motion trajectory of radar device is obtained;Based on motion trajectory, the shape parameter of fully mechanized working face is obtained.Thereby, the shape parameter of fully mechanized working face can be obtained by collecting point cloud data by radar device.Compared with the related art, which mainly uses odometer to measure fully mechanized working face, radar device has the advantages of high precision, no influence of light, strong anti-interference, etc., which improves the precision and reliability of fully mechanized working face measurement.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to a measurement method and apparatus for a fully mechanized mining face. Background Technology

[0002] The shape parameters of a fully mechanized mining face are crucial to its normal operation. For example, a fully mechanized mining face consists of multiple hydraulic supports, and ideally, these supports should be aligned in a straight line. However, most related technologies use odometers to measure the face, but the accuracy of odometers is easily affected by factors such as vibration, incline, and slippage, resulting in low reliability. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the above-mentioned technologies.

[0004] Therefore, one objective of this invention is to propose a measurement method for fully mechanized mining faces, which can collect point cloud data through a radar device to obtain the shape parameters of the fully mechanized mining face. Compared with related technologies that mostly use odometers to measure fully mechanized mining faces, radar devices have advantages such as high accuracy, immunity to light effects, and strong anti-interference capabilities, thereby improving the accuracy and reliability of fully mechanized mining face measurement.

[0005] The second objective of this invention is to provide a measuring device for a fully mechanized mining face.

[0006] The third objective of this invention is to provide an electronic device.

[0007] The fourth objective of this invention is to provide a computer-readable storage medium.

[0008] The first aspect of the present invention provides a measurement method for a fully mechanized mining face, which involves controlling a radar device to move on the fully mechanized mining face, and during the movement of the radar device, controlling the radar device to collect N frames of point cloud data of the fully mechanized mining face, where N is a positive integer; based on the N frames of point cloud data, obtaining the motion trajectory of the radar device; and based on the motion trajectory, obtaining the shape parameters of the fully mechanized mining face.

[0009] According to the measurement method for a fully mechanized mining face according to an embodiment of the present invention, a radar device is controlled to move on the fully mechanized mining face. During the movement of the radar device, the radar device is controlled to collect N frames of point cloud data of the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, this method can obtain the shape parameters of the fully mechanized mining face by collecting point cloud data through a radar device. Compared with related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to light effects, and strong anti-interference capabilities, thus improving the accuracy and reliability of the measurement of the fully mechanized mining face.

[0010] In addition, the measurement method for fully mechanized mining faces proposed in the above embodiments of the present invention may also have the following additional technical features:

[0011] In one embodiment of the present invention, the control of the radar device to move on the fully mechanized mining face includes: determining the movement route of the radar device based on the extension direction of the fully mechanized mining face; and controlling the radar device to move on the fully mechanized mining face according to the movement route.

[0012] In one embodiment of the present invention, obtaining the motion trajectory of the radar device based on N frames of point cloud data includes: obtaining N frames of pose of the radar device based on the N frames of point cloud data; and obtaining the motion trajectory based on the N frames of pose.

[0013] In one embodiment of the present invention, obtaining the N-frame pose of the radar device based on the N frames of point cloud data includes: obtaining the pose of the radar device in the first frame based on the point cloud data of the first frame; starting from the point cloud data of the second frame, obtaining the pose of the radar device in the i-th frame based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)-th frame, and the pose in the (i-1)-th frame, until the traversal of the N-frame point cloud data is completed, where 2≤i≤N, and i is a positive integer.

[0014] In one embodiment of the present invention, obtaining the pose of the radar device in the i-th frame based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)-th frame, and the pose at the (i-1)-th frame includes: obtaining the relative pose of the radar device based on the point cloud data of the i-th frame and the point cloud data of the (i-1)-th frame; and obtaining the pose at the i-th frame based on the pose at the (i-1)-th frame and the relative pose.

[0015] In one embodiment of the present invention, obtaining the shape parameters of the fully mechanized mining face based on the motion trajectory includes: projecting the motion trajectory onto a first plane to obtain a first curve, wherein the first curve is used to characterize the straightness of the fully mechanized mining face.

[0016] In one embodiment of the present invention, obtaining the shape parameters of the fully mechanized mining face based on the motion trajectory includes: projecting the motion trajectory onto a second plane to obtain a second curve, wherein the second curve is used to characterize the levelness of the fully mechanized mining face.

[0017] In one embodiment of the present invention, before obtaining the motion trajectory of the radar device based on N frames of point cloud data, the method further includes: performing distortion correction on the N frames of point cloud data.

[0018] A second aspect of the present invention provides a measuring device for a fully mechanized mining face, comprising: a data acquisition module for controlling a radar device to move on the fully mechanized mining face, and during the movement of the radar device, controlling the radar device to acquire N frames of point cloud data of the fully mechanized mining face, wherein N is a positive integer; a first acquisition module for obtaining the motion trajectory of the radar device based on the N frames of point cloud data; and a second acquisition module for obtaining the shape parameters of the fully mechanized mining face based on the motion trajectory.

[0019] The measuring device for a fully mechanized mining face in this embodiment of the invention controls a radar device to move on the fully mechanized mining face. During the movement of the radar device, the radar device collects N frames of point cloud data of the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, the shape parameters of the fully mechanized mining face can be obtained by collecting point cloud data through a radar device. Compared with related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to lighting conditions, and strong anti-interference capabilities, thus improving the accuracy and reliability of fully mechanized mining face measurement.

[0020] In addition, the measuring device for a fully mechanized mining face proposed in the above embodiments of the present invention may also have the following additional technical features:

[0021] In one embodiment of the present invention, the acquisition module is further configured to: determine the movement route of the radar device based on the extension direction of the fully mechanized mining face; and control the radar device to move on the fully mechanized mining face according to the movement route.

[0022] In one embodiment of the present invention, the first acquisition module is further configured to: obtain N frames of pose of the radar device based on the N frames of point cloud data; and obtain the motion trajectory based on the N frames of pose.

[0023] In one embodiment of the present invention, the first acquisition module is further configured to: obtain the pose of the radar device in the first frame based on the point cloud data of the first frame; starting from the point cloud data of the second frame, obtain the pose of the radar device in the i frame based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)th frame and the pose in the (i-1)th frame, until the traversal of N frames of point cloud data is completed, where 2≤i≤N and i is a positive integer.

[0024] In one embodiment of the present invention, the first acquisition module is further configured to: obtain the relative pose of the radar device based on the point cloud data of the i-th frame and the point cloud data of the (i-1)-th frame; and obtain the pose of the i-th frame based on the pose at the (i-1)-th frame and the relative pose.

[0025] In one embodiment of the present invention, the second acquisition module is further configured to: project the motion trajectory onto a first plane to obtain a first curve, wherein the first curve is used to characterize the straightness of the fully mechanized mining face.

[0026] In one embodiment of the present invention, the second acquisition module is further configured to: project the motion trajectory onto a second plane to obtain a second curve, wherein the second curve is used to characterize the levelness of the fully mechanized mining face.

[0027] In one embodiment of the present invention, before obtaining the motion trajectory of the radar device based on N frames of point cloud data, the first acquisition module is further configured to: perform distortion correction on the N frames of point cloud data.

[0028] A third aspect of the present invention provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the measurement method for a fully mechanized mining face as described in the first aspect of the present invention.

[0029] The electronic device in this invention executes a computer program stored in a memory via a processor to control a radar device to move on the fully mechanized mining face. During the movement of the radar device, it collects N frames of point cloud data from the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, the shape parameters of the fully mechanized mining face can be obtained by collecting point cloud data using a radar device. Compared to related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to lighting conditions, and strong anti-interference capabilities, thus improving the accuracy and reliability of fully mechanized mining face measurement.

[0030] The fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the measurement method for a fully mechanized mining face as described in the first aspect of this invention.

[0031] The computer-readable storage medium of this invention stores a computer program, which is executed by a processor, to control a radar device to move on a fully mechanized mining face. During the movement of the radar device, it collects N frames of point cloud data from the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, the shape parameters of the fully mechanized mining face can be obtained by collecting point cloud data through a radar device. Compared with related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to lighting conditions, and strong anti-interference capabilities, thus improving the accuracy and reliability of fully mechanized mining face measurement.

[0032] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0034] Figure 1 This is a flowchart illustrating a measurement method for a fully mechanized mining face according to an embodiment of the present invention.

[0035] Figure 2 This is a schematic flowchart of a measurement method for a fully mechanized mining face according to another embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of a lidar measuring device according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of a measuring device for a fully mechanized mining face according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below, examples of which are illustrated 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 the present invention, and should not be construed as limiting the present invention.

[0040] The following description, in conjunction with the accompanying drawings, describes the measurement method, apparatus, electronic equipment, and storage medium for a fully mechanized mining face according to embodiments of the present invention.

[0041] Figure 1 This is a flowchart illustrating a measurement method for a fully mechanized mining face according to an embodiment of the present invention.

[0042] like Figure 1 As shown, the measurement method for a fully mechanized mining face according to an embodiment of the present invention includes:

[0043] S101 controls the radar device to move on the fully mechanized mining face, and during the movement of the radar device, controls the radar device to collect N frames of point cloud data of the fully mechanized mining face, where N is a positive integer.

[0044] It should be noted that there are no strict limitations on radar devices. For example, radar devices may include microwave radar, millimeter-wave radar, lidar, etc.

[0045] It should be noted that there are no strict restrictions on N; for example, N can be 100.

[0046] In one embodiment, the radar device can be mounted on the coal mining machine. By controlling the movement of the coal mining machine on the longwall mining face, the radar device can be moved on the longwall mining face. In this case, the coal mining machine serves as the moving platform for the radar device.

[0047] In one embodiment, a movable channel is provided on the fully mechanized mining face, allowing the radar device to be moved along the channel, thus enabling the radar device to move on the fully mechanized mining face. It should be noted that the movable channel is not overly limited; for example, it may include the guide rail of a scraper conveyor.

[0048] In one embodiment, controlling the movement of the radar device on the longwall mining face includes determining the movement route of the radar device based on the extension direction of the longwall mining face, and controlling the radar device to move on the longwall mining face according to the movement route.

[0049] In some cases, the direction of extension may include the direction in which the length of the longwall mining face lies.

[0050] In some cases, the longwall mining face can extend in multiple directions, and can be divided into multiple sub-faces according to these directions. Each sub-face corresponds one-to-one with its extension direction. Based on the extension direction of the longwall mining face, the movement route of the radar device is determined, including determining the sub-routes of the radar device based on the extension directions of the sub-faces. These sub-routes are then spliced ​​together to obtain the radar device's movement route. It should be noted that the sub-routes of the radar device refer to the movement route of the radar device on each sub-face.

[0051] In some cases, the movement path of the radar device includes a movement path from the first end of the longwall face to the second end of the longwall face.

[0052] In one embodiment, controlling the movement of the radar device on the longwall mining face includes controlling the radar device to move at a constant speed on the longwall mining face.

[0053] In one implementation, the controllable radar device can collect one frame of point cloud data from the fully mechanized mining face at a set period to obtain N frames of point cloud data. It should be noted that the set period is not overly limited; for example, it can be 2 seconds.

[0054] S102, based on N frames of point cloud data, obtain the motion trajectory of the radar device.

[0055] In one implementation, the motion trajectory of the radar device is obtained based on N frames of point cloud data, including filtering out M frames of point cloud data from the N frames and obtaining the motion trajectory of the radar device based on the M frames of point cloud data. Here, M is less than or equal to N, and M is a positive integer.

[0056] In one implementation, before obtaining the motion trajectory of the radar device based on N frames of point cloud data, distortion correction is performed on the N frames of point cloud data to improve the accuracy of the N frames of point cloud data.

[0057] In some examples, the controllable radar device and inertial navigation device move synchronously on the longwall mining face, and during the movement of the inertial navigation device, the controllable inertial navigation device collects motion data from the radar device. This motion data includes attitude, velocity, and position.

[0058] Distortion correction of N frames of point cloud data can include distortion correction of N frames of point cloud data based on motion data.

[0059] S103, based on the motion trajectory, obtain the shape parameters of the fully mechanized mining face.

[0060] It should be noted that there are no strict limitations on shape parameters, such as the length, width, height, straightness, and levelness of the fully mechanized mining face.

[0061] In one implementation, the shape parameters of the fully mechanized mining face are obtained based on the motion trajectory, including projecting the motion trajectory onto a first plane to obtain a first curve, wherein the first curve is used to characterize the straightness of the fully mechanized mining face. It is understood that the motion trajectory is a three-dimensional curve, and the first plane may include the xy-plane in the world coordinate system. Projecting the motion trajectory onto the first plane to obtain the first curve may include projecting the motion trajectory onto the xy-plane to obtain the first curve, i.e., the first curve is a two-dimensional curve on the xy-plane.

[0062] In one implementation, the shape parameters of the fully mechanized mining face are obtained based on the motion trajectory, including projecting the motion trajectory onto a second plane to obtain a second curve, wherein the second curve is used to characterize the levelness of the fully mechanized mining face. It is understood that the motion trajectory is a three-dimensional curve, and the second plane may include the xz plane in the world coordinate system. Projecting the motion trajectory onto the second plane to obtain the second curve may include projecting the motion trajectory onto the xz plane to obtain the second curve, i.e., the second curve is a two-dimensional curve on the xz plane.

[0063] In some examples, the length and width of the longwall mining face are obtained based on the first curve.

[0064] In some cases, the height of the longwall face is also obtained based on the second curve.

[0065] It should be noted that both the first plane and the second plane are planes in the world coordinate system xyz.

[0066] In summary, the measurement method for a fully mechanized mining face according to embodiments of the present invention involves controlling a radar device to move on the fully mechanized mining face, and during the movement of the radar device, controlling the radar device to collect N frames of point cloud data of the fully mechanized mining face. Based on the N frames of point cloud data, the motion trajectory of the radar device is obtained, and based on the motion trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, this method can obtain the shape parameters of the fully mechanized mining face by collecting point cloud data through a radar device. Compared with related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to illumination effects, and strong anti-interference capabilities, thus improving the accuracy and reliability of the measurement of the fully mechanized mining face.

[0067] Figure 2 This is a flowchart illustrating a measurement method for a fully mechanized mining face according to another embodiment of the present invention.

[0068] like Figure 2 As shown, the measurement method for a fully mechanized mining face according to an embodiment of the present invention includes:

[0069] S201, control the radar device to move on the fully mechanized mining face, and during the movement of the radar device, control the radar device to collect N frames of point cloud data of the fully mechanized mining face, where N is a positive integer.

[0070] The details of step S201 can be found in the above embodiments and will not be repeated here.

[0071] S202, based on N frames of point cloud data, obtain the N frames of pose of the radar device.

[0072] It should be noted that there are no strict restrictions on the pose. For example, it can be a 6D pose, which includes translation with 3 degrees of freedom and rotation with 3 degrees of freedom.

[0073] In one implementation, the N-frame pose of the radar device is obtained based on N frames of point cloud data. This includes obtaining the pose of the radar device in the first frame based on the point cloud data of the first frame, and obtaining the pose of the radar device in the i-th frame based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)-th frame, and the pose in the (i-1)-th frame, until the traversal of the N-frame point cloud data is completed, where 2≤i≤N and i is a positive integer.

[0074] For example, if N=10, the radar device's pose in frame 1 can be obtained based on the point cloud data of frame 1. The radar device's pose in frame 2 can be obtained based on the point cloud data of frame 1, frame 2, and the pose in frame 1. The radar device's pose in frame 3 can be obtained based on the point cloud data of frame 2, frame 3, and the pose in frame 2. The process of obtaining the pose in frames 4 to 10 can refer to the process of obtaining the pose in frames 2 and 3, and will not be repeated here.

[0075] In some examples, the radar device's pose in frame i is obtained based on the point cloud data of the currently traversed frame i, the point cloud data of frame i-1, and the pose at frame i-1. This involves inputting the point cloud data of frame i, the point cloud data of frame i-1, and the pose at frame i-1 into a predefined algorithm for processing to obtain the radar device's pose in frame i. It should be noted that the predefined algorithm is not overly restricted; for example, it can be a deep learning algorithm, which can be pre-trained or trained in real-time.

[0076] In some examples, the radar device's pose in frame i is obtained based on the point cloud data of the currently traversed frame i, the point cloud data of frame i-1, and the pose at frame i-1. This includes obtaining the radar device's relative pose based on the point cloud data of frame i and frame i-1, and obtaining the pose at frame i based on the pose at frame i-1 and the relative pose. It should be noted that the relative pose refers to the difference between the pose at frame i and the pose at frame i-1.

[0077] In some examples, the relative pose of the radar device is obtained based on the point cloud data of frame i and frame (i-1), including registration processing of the point cloud data of frame i and frame (i-1) to obtain the relative pose. It should be noted that the specific method of registration processing is not limited in many ways; for example, any registration algorithm in the field of image processing can be used.

[0078] For example, the point cloud data of frame i and the point cloud data of frame (i-1) are registered to obtain the relative pose. This includes extracting a first feature from the point cloud data of frame i, extracting a second feature from the point cloud data of frame (i-1), and performing feature matching on the first and second features to obtain the relative pose.

[0079] S203, based on N frames of pose, obtains the motion trajectory.

[0080] In one implementation, the motion trajectory is obtained based on the pose of N frames, including obtaining the trajectory point of the radar device in the j-th frame based on the pose of the j-th frame, and obtaining the motion trajectory based on the trajectory point in the N frames. Wherein, 1≤j≤N, and j is a positive integer.

[0081] In some examples, the motion trajectory is obtained based on the trajectory points at N frames, including obtaining the sub-trajectories between the trajectory points at two adjacent frames, and stitching together multiple sub-trajectories to obtain the motion trajectory.

[0082] S204, based on the motion trajectory, obtains the shape parameters of the fully mechanized mining face.

[0083] The details of step S204 can be found in the above embodiments and will not be repeated here.

[0084] In summary, the measurement method for the fully mechanized mining face according to the embodiments of the present invention obtains the N-frame pose of the radar device based on N-frame point cloud data, and obtains the motion trajectory based on the N-frame pose, so as to realize the acquisition of the motion trajectory of the radar device.

[0085] Based on any of the above embodiments, such as Figure 3 As shown, the present invention also proposes a lidar measurement device 100, including a lidar device 1, an inertial navigation device 2, and a data processing device 3. The data processing device 3 is a hardware device with data information processing capabilities and / or the necessary software to drive the hardware device, such as a server, computer, user terminal, and other devices.

[0086] Among them, the lidar device 1 is used to collect N frames of point cloud data of the fully mechanized mining face, the inertial navigation device 2 is used to collect the motion data of the lidar device, and the data processing device 3 is used to process the N frames of point cloud data to obtain the shape parameters of the fully mechanized mining face.

[0087] In some examples, the data processing device 3 is also used to perform distortion correction on N frames of point cloud data based on motion data.

[0088] To achieve the above embodiments, the present invention also proposes a measuring device for a fully mechanized mining face.

[0089] Figure 4This is a schematic diagram of the structure of a measuring device for a fully mechanized mining face according to an embodiment of the present invention.

[0090] like Figure 4 As shown, the measuring device 200 for the fully mechanized mining face in this embodiment of the invention includes: a data acquisition module 210, a first acquisition module 220, and a second acquisition module 230.

[0091] The acquisition module 210 is used to control the radar device to move on the fully mechanized mining face, and during the movement of the radar device, control the radar device to acquire N frames of point cloud data of the fully mechanized mining face, where N is a positive integer;

[0092] The first acquisition module 220 is used to obtain the motion trajectory of the radar device based on N frames of point cloud data;

[0093] The second acquisition module 230 is used to obtain the shape parameters of the fully mechanized mining face based on the motion trajectory.

[0094] In one embodiment of the present invention, the acquisition module 210 is further configured to: determine the movement route of the radar device based on the extension direction of the fully mechanized mining face; and control the radar device to move on the fully mechanized mining face according to the movement route.

[0095] In one embodiment of the present invention, the first acquisition module 220 is further configured to: obtain N frames of pose of the radar device based on the N frames of point cloud data; and obtain the motion trajectory based on the N frames of pose.

[0096] In one embodiment of the present invention, the first acquisition module 220 is further configured to: obtain the pose of the radar device in the first frame based on the point cloud data of the first frame; starting from the point cloud data of the second frame, obtain the pose of the radar device in the i frame based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)th frame and the pose in the (i-1)th frame, until the traversal of N frames of point cloud data is completed, where 2≤i≤N and i is a positive integer.

[0097] In one embodiment of the present invention, the first acquisition module 220 is further configured to: obtain the relative pose of the radar device based on the point cloud data of the i-th frame and the point cloud data of the (i-1)-th frame; and obtain the pose of the i-th frame based on the pose of the (i-1)-th frame and the relative pose.

[0098] In one embodiment of the present invention, the second acquisition module 230 is further configured to: project the motion trajectory onto a first plane to obtain a first curve, wherein the first curve is used to characterize the straightness of the fully mechanized mining face.

[0099] In one embodiment of the present invention, the second acquisition module 230 is further configured to: project the motion trajectory onto a second plane to obtain a second curve, wherein the second curve is used to characterize the levelness of the fully mechanized mining face.

[0100] In one embodiment of the present invention, before obtaining the motion trajectory of the radar device based on N frames of point cloud data, the first acquisition module 220 is further configured to: perform distortion correction on the N frames of point cloud data.

[0101] It should be noted that for details not disclosed in the measuring device of the fully mechanized mining face in this embodiment of the invention, please refer to the details disclosed in the measuring method of the fully mechanized mining face in this embodiment of the invention, which will not be repeated here.

[0102] In summary, the measuring device for the fully mechanized mining face in this embodiment of the invention controls a radar device to move on the fully mechanized mining face. During the movement of the radar device, it collects N frames of point cloud data of the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, the shape parameters of the fully mechanized mining face can be obtained by collecting point cloud data through a radar device. Compared with related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to lighting conditions, and strong anti-interference capabilities, thus improving the accuracy and reliability of the measurement of the fully mechanized mining face.

[0103] To achieve the above embodiments, such as Figure 5 As shown, an embodiment of the present invention proposes an electronic device 300, including: a memory 310, a processor 320, and a computer program stored in the memory 310 and executable on the processor 320. When the processor 320 executes the program, it implements the above-mentioned measurement method for the fully mechanized mining face.

[0104] The electronic device in this invention executes a computer program stored in a memory via a processor to control a radar device to move on the fully mechanized mining face. During the movement of the radar device, it collects N frames of point cloud data from the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, the shape parameters of the fully mechanized mining face can be obtained by collecting point cloud data using a radar device. Compared to related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to lighting conditions, and strong anti-interference capabilities, thus improving the accuracy and reliability of fully mechanized mining face measurement.

[0105] To implement the above embodiments, this invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described measurement method for a fully mechanized mining face.

[0106] The computer-readable storage medium of this invention stores a computer program, which is executed by a processor, to control a radar device to move on a fully mechanized mining face. During the movement of the radar device, it collects N frames of point cloud data from the fully mechanized mining face. Based on the N frames of point cloud data, the movement trajectory of the radar device is obtained, and based on the movement trajectory, the shape parameters of the fully mechanized mining face are obtained. Therefore, the shape parameters of the fully mechanized mining face can be obtained by collecting point cloud data through a radar device. Compared with related technologies that mostly use odometers to measure the fully mechanized mining face, the radar device has advantages such as high accuracy, immunity to lighting conditions, and strong anti-interference capabilities, thus improving the accuracy and reliability of fully mechanized mining face measurement.

[0107] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0108] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0109] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0110] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0111] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. 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.

[0112] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A measurement method for a fully mechanized mining face, characterized in that, include: The movement route of the radar device is determined based on the extension direction of the fully mechanized mining face. According to the moving route, the radar device is controlled to move on the fully mechanized mining face, and during the movement of the radar device, the radar device is controlled to collect N frames of point cloud data of the fully mechanized mining face, where N is a positive integer; Based on the point cloud data of the first frame, the pose of the radar device in the first frame is obtained. Starting from the point cloud data of the second frame, based on the point cloud data of the currently traversed i-th frame, the point cloud data of the i-1th frame, and the pose at the i-1th frame, the pose of the radar device at the i-th frame is obtained, until the N-frame point cloud data traversal is completed, and the N-frame pose of the radar device is obtained, where 2≤i≤N, and i is a positive integer. Based on the pose described in N frames, the motion trajectory of the radar device is obtained; Based on the motion trajectory, the shape parameters of the fully mechanized mining face are obtained, including the straightness and levelness of the fully mechanized mining face; The step of obtaining the shape parameters of the fully mechanized mining face based on the motion trajectory includes: The motion trajectory is projected onto a first plane to obtain a first curve, wherein the first curve is used to characterize the straightness of the fully mechanized mining face; and The motion trajectory is projected onto a second plane to obtain a second curve, wherein the second curve is used to characterize the levelness of the fully mechanized mining face.

2. The method according to claim 1, characterized in that, The step of obtaining the radar device's pose in the i-th frame based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)-th frame, and the pose at the (i-1)-th frame includes: Based on the point cloud data of the i-th frame and the point cloud data of the (i-1)-th frame, the relative pose of the radar device is obtained; The pose at the i-th frame is obtained based on the pose at the (i-1)th frame and the relative pose.

3. The method according to any one of claims 1-2, characterized in that, Before obtaining the motion trajectory of the radar device based on N frames of point cloud data, the method further includes: Distortion correction is performed on the point cloud data of N frames.

4. A measuring device for a fully mechanized mining face, characterized in that, include: The data acquisition module is used to determine the movement route of the radar device based on the extension direction of the fully mechanized mining face. According to the moving route, the radar device is controlled to move on the fully mechanized mining face, and during the movement of the radar device, the radar device is controlled to collect N frames of point cloud data of the fully mechanized mining face, where N is a positive integer; The first acquisition module is used to obtain the pose of the radar device in the first frame based on the point cloud data of the first frame; starting from the point cloud data of the second frame, based on the point cloud data of the currently traversed i-th frame, the point cloud data of the (i-1)-th frame, and the pose at the (i-1)-th frame, to obtain the pose of the radar device in the i-th frame, until the traversal of N frames of point cloud data is completed, to obtain the N-frame pose of the radar device, where 2≤i≤N, and i is a positive integer; and based on the N-frame poses, to obtain the motion trajectory of the radar device. The second acquisition module is used to obtain the shape parameters of the fully mechanized mining face based on the motion trajectory, wherein the shape parameters include the straightness and levelness of the fully mechanized mining face; The second acquisition module is further configured to project the motion trajectory onto a first plane to obtain a first curve, wherein the first curve is used to characterize the straightness of the fully mechanized mining face; and The motion trajectory is projected onto a second plane to obtain a second curve, wherein the second curve is used to characterize the levelness of the fully mechanized mining face.

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