A coal mine underground roadway laser projection calibration method of a galvanometer laser line projection technology

Abstract

This invention discloses a laser projection calibration method for underground coal mine roadways using galvanometer laser line projection technology, relating to the field of underground coal mine laser layout technology. The key technical points include the following specific steps: First, an original geometric calibration graphic is generated by combining the full-section contour laser output from the laser orientation instrument, borehole positioning marks, and support reference lines into a projection beam. Second, a primary geometric calibration graphic is obtained by matching the laser projection contour shape with the parameters of the construction plan. Third, a ranging module corrects the primary geometric calibration graphic based on the distance, and optical path compensation is performed by combining the projection distance from the laser orientation instrument to the roadway wall to generate an equidistant conformal calibration graphic. The effect is to provide a reliable contour reference for automated tunneling and cutting.

Description

Technical Field

[0001] This invention relates to the field of laser surveying technology in coal mines, and more specifically, to a laser projection calibration method for underground coal mine roadways using galvanometer laser line projection technology. Background Technology

[0002] With the continuous promotion of intelligent mining technology in coal mines, high-precision roadway contour benchmarks are required for automated cutting of tunnel faces and setting out of roadway cross sections. Since manual calibration requires surveyors to enter the tunnel face area for a long time, the high concentration of dust generated by coal falling underground and the vibration of surrounding rock caused by blasting will interfere with manual measurement readings. Not only is the work efficiency low, but personnel will also face safety risks such as roof collapse and side fall. Therefore, most of the time, mine laser orientation equipment is used for calibration measurement.

[0003] However, most existing mine laser orientation equipment can only output borehole positioning markers or single-section outlines, and can only mark local reference edges of the roadway. It is difficult to directly project the complete roadway outline. To obtain the entire roadway's outline, operators need to move the equipment multiple times, repeatedly record the coordinates of the points, and manually stitch the coordinates to generate the outline. The entire process is cumbersome and the measurement cycle is long. Due to the complex working conditions underground, the performance defects of existing laser orientation equipment are further amplified. Differences in the scheme parameters within the roadway will absorb and scatter the laser beam, and the laser brightness will be greatly reduced after long-distance projection. Lines on the tunnel wall will be blurred and indistinct; changes in laser projection distance will cause optical path distortion, and laser line segments of the same design length will appear stretched in scale at different projection positions, resulting in distorted graphic proportions; after long-term pressure on the surrounding rock, the actual contour of the tunnel wall deviates from the design cross-section, and laser projection with fixed parameters cannot adapt to such local morphological changes; if the scheme parameter contour adaptation, optical path distance correction, alignment calibration, and cross-section design adaptation are not integrated into a single calibration process, the error of the final calibration contour will continue to accumulate after the superposition of different interference factors, making it difficult to meet the accuracy requirements of intelligent tunneling. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a laser projection calibration method for underground coal mine roadways using galvanometer laser line projection technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology, comprising the following specific steps:

[0007] The original geometric calibration pattern is generated by combining the full-section contour laser output by the laser orientation instrument, the borehole positioning mark, and the support reference line with the projected beam.

[0008] The primary geometric calibration pattern is obtained by matching the laser projection contour shape with the original geometric calibration pattern and the construction plan parameters.

[0009] The primary geometric calibration pattern is corrected, and optical path compensation is performed by combining the projection distance from the laser orientation instrument to the alley wall to generate an equidistant conformal calibration pattern.

[0010] Preferably, it further includes:

[0011] The laser orientation device is equipped with a local touch screen, Bluetooth, and WiFi wireless communication unit, and can issue graphic editing commands based on the local touch screen or external explosion-proof mobile phones and computers.

[0012] Preferably, the original geometric calibration pattern is generated by combining the full-section contour laser output by the laser orientation instrument, the borehole positioning mark, and the support reference line into the projected beam, specifically including the following steps:

[0013] Adjust the projection working state of the laser orientation instrument according to the tunnel layout parameters to obtain the borehole positioning mark points, cross-sectional contour lines and contour and mark combination projection beams that are adapted to the current tunnel environment;

[0014] A composition base is generated by combining various projection beams, and the composition base is fully fitted and projected according to the spatial shape of the tunnel wall to form the initial tunnel laser outline.

[0015] The initial laser profile of the tunnel is adjusted to optimize the beam arrangement and profile fitting accuracy, thus obtaining the original geometric calibration pattern.

[0016] Preferably, the primary geometric calibration graphic is obtained by matching the laser projection contour shape with the original geometric calibration graphic and the construction plan parameters, specifically including the following steps:

[0017] Based on the matching degree of the tunnel contour with the original geometric calibration graphic, the laser output contour is adapted to the brightness, and the laser projection contour reference standard that fits the current downhole environment is determined.

[0018] Based on the laser projection contour reference, the overall contour shape of the original geometric calibration graphic is synchronously corrected across the entire domain to obtain the contour adaptation value.

[0019] Integrate contour adaptation values ​​and contour optimization values ​​to generate a primary geometric calibration graphic with uniform light transmission and a complete contour.

[0020] Preferably, the primary geometric calibration pattern is corrected, and optical path compensation is performed by combining the projection distance from the laser orientation instrument to the alley wall to generate an equidistant conformal calibration pattern, specifically including the following steps:

[0021] The laser projection distance value is obtained by measuring the projection distance from the laser orientation instrument to the alley wall.

[0022] Based on the optical path compensation correction data, the primary geometric calibration pattern is subjected to region-by-region optical path adaptation correction to obtain the equidistant conformal calibration pattern.

[0023] Preferably, a coarse positioning alignment segmented reference graphic is generated based on the degree of palm face alignment calibration caused by the overall translation of the graphic in the alignment calibration offset. This specifically includes the following steps:

[0024] Based on the alignment correction data, the equidistant conformal calibration graphic is subjected to overall translation and alignment correction to obtain the alignment correction graphic;

[0025] Based on the complete calibration graphic obtained after alignment correction, the calibration correction graphic is continuously segmented according to the roadway layout characteristics to obtain multiple sets of initial segmented calibration graphics.

[0026] Integrate the initial segment calibration graphics to generate coarse positioning and alignment segment reference graphics.

[0027] Preferably, the method further includes the following steps:

[0028] Based on the cross-sectional dimension parameters, the overall contour boundary of the coarse positioning and alignment segmentation reference graphic is adapted and adjusted to obtain the transition calibration graphic.

[0029] The contour offset correction value is obtained by combining the local contour deviation of the transition calibration graphic with the tunnel cross-section design parameters;

[0030] The single-segment forming calibration pattern is determined based on the contour offset correction value.

[0031] Compared with the prior art, the present invention has the following beneficial effects: it combines the projection distance to carry out optical path compensation and correction, eliminating the problems of optical path distortion and graphic scale stretching distortion caused by different projection distances; finally, it adapts to the roadway cross-section design parameters to fine-tune the local contour, adapts to the contour changes caused by the cross-section design adjustment, and provides a reliable contour benchmark for automated tunneling cutting and roadway cross-section layout. Attached Figure Description

[0032] Figure 1 A schematic flowchart of a laser projection calibration method for underground coal mine roadways using galvanometer laser line projection technology is provided as an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram illustrating the process of obtaining the original geometric calibration pattern in a laser projection calibration method for underground coal mine roadways using galvanometer laser line projection technology, as provided in an embodiment of the present invention. Detailed Implementation

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0036] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0037] Reference Figures 1-2 As shown.

[0038] The embodiments further illustrate the laser projection calibration method for underground coal mine roadways using galvanometer laser line projection technology proposed in this invention.

[0039] A method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology, comprising the following specific steps:

[0040] The original geometric calibration pattern is generated by combining the full-section contour laser output by the laser orientation instrument, the borehole positioning mark, and the support reference line with the projected beam.

[0041] The primary geometric calibration pattern is obtained by matching the laser projection contour shape with the original geometric calibration pattern and the construction plan parameters.

[0042] The primary geometric calibration pattern is corrected, and optical path compensation is performed by combining the projection distance from the laser orientation instrument to the alley wall to generate an equidistant conformal calibration pattern.

[0043] Summarize the boundary coordinates of each segment of the calibration graphic, and stitch together adjacent boundary coordinates to generate a complete laser calibration profile.

[0044] Also includes:

[0045] The laser orientation device is equipped with a local touchscreen, Bluetooth, and WiFi wireless communication units, allowing for graphic editing commands to be issued via local touchscreen or external explosion-proof mobile phones or computers. It features functions such as temperature and air pressure measurement, distance measurement, and slope measurement.

[0046] The original geometric calibration pattern is generated by combining the full-section contour laser output from the laser orientation instrument, the borehole positioning marks, and the support reference lines. The specific steps include:

[0047] Adjust the projection working state of the laser orientation instrument according to the tunnel layout parameters to obtain the borehole positioning mark points, cross-sectional contour lines and contour and mark combination projection beams that are adapted to the current tunnel environment;

[0048] The laser orientation instrument is an intrinsically safe type for mining applications. Standardized design units are used as the unit of measurement for construction plan parameters, millimeters are used for the coordinates of feature points on the working face, and meters are used for the projection distance. The main control unit multiplies the projection distance by 1000 to convert the units, ensuring uniformity in millimeters for subsequent multi-parameter coupling calculations. Because the operation of tunneling equipment during underground excavation raises a large amount of plan parameters, and blasting operations cause continuous alignment of the surrounding rock, the distance between the laser orientation instrument and the roadway wall varies significantly at different construction locations. Directly using fixed parameters to project the laser will result in blurred light spots, outline displacement, and graphic stretching. Therefore, obtaining complete layout parameters in advance can avoid calibration errors caused by these problems from the outset.

[0049] After obtaining three types of adapted projection beams, the system constructs a mapping base based on the beams, and then combines this with the spatial morphology of the tunnel wall to complete a full-area fitting projection to obtain the initial tunnel laser outline. The mapping base is composed of different types of beams spliced ​​together. The borehole positioning markers provide the key coordinate nodes of the base, and the cross-sectional outline lines connect adjacent coordinate nodes to form a basic border. The projection beams combining the outline and markers fill the transition area inside the border.

[0050] The initial geometric calibration graphic is obtained by matching the laser projection contour shape with the original geometric calibration graphic and the construction plan parameters. The specific steps include:

[0051] Based on the laser projection contour reference, the overall contour shape of the original geometric calibration graphic is synchronously corrected across the entire domain to obtain the contour adaptation value.

[0052] Integrate contour adaptation values ​​and contour optimization values ​​to generate a primary geometric calibration graphic with uniform light transmission and a complete contour.

[0053] After determining the laser projection contour reference, the system performs a global synchronous contour morphology correction calculation on the original geometric calibration graphic to obtain the contour adaptation value. The original geometric calibration graphic contains a large number of borehole positioning markers, cross-sectional contour lines, and graphic areas composed of contour and marker combination beams. The range of scheme parameters traversed by beams at different locations varies. The system traverses all beam paths within the graphic, and the calculation formula is: Single beam contour adaptation value = Laser projection contour reference - Original output brightness of the beam, achieving balanced brightness adjustment of the entire graphic.

[0054] The initial geometric calibration pattern is corrected, and an equidistant conformal calibration pattern is generated by combining the optical path compensation with the projection distance from the laser orientation instrument to the alley wall. The specific steps include:

[0055] The laser projection distance value is obtained by measuring the projection distance from the laser orientation instrument to the alley wall.

[0056] Based on the optical path compensation correction data, the primary geometric calibration pattern is subjected to region-by-region optical path adaptation correction to obtain the equidistant conformal calibration pattern.

[0057] The system retrieves the linear projection distance from the laser directional instrument to the target tunnel wall from the matching optical path splitting module, and outputs a standardized laser projection distance value. The splitting component uses meters as the basic unit of measurement, and the main controller converts the raw distance values ​​to millimeters for subsequent calculations to avoid calculation errors caused by inconsistencies in different physical units. For example, if the raw distance obtained from a single measurement is 12m, the laser projection distance value after unit conversion is 12 × 1000 = 12000mm. This value is stored in the main controller's temporary storage space as a basic input parameter for subsequent analysis of optical path deviations. The deployment conditions vary in different sections of the underground tunnel, and different projection distances directly change the degree of laser spot diffusion and the geometric projection effect of the scanning optical path. Therefore, it is crucial to first obtain accurate distance values ​​and then quantify the various negative impacts of distance.

[0058] The master control unit retrieves the generated optical path compensation and correction data, performs region-by-region optical path adaptation and correction on the primary geometric calibration graphic, and obtains the final equidistant conformal calibration graphic. The master control unit breaks down the primary geometric calibration graphic into multiple independent regions, corresponding to different structural sections such as straight edges, corners, and rounded transitions in the tunnel. For each region, it retrieves the corresponding location's dimensional loss and design deviation to adjust the parameters. For regions composed of straight lines, the master control unit reduces the line segment extension range based on the dimensional loss. The calculation formula is: actual projected length of the corrected line segment = original projected length of the line segment in the primary graphic - dimensional loss of a single line segment. For areas prone to corners, the master control unit adjusts the galvanometer's rotation trajectory based on the local corner design deviation, narrowing the rounded transition range caused by beam scattering and restoring the sharp corner shape in the design. Different regions are adjusted independently according to their own specific correction parameters to avoid applying distant correction parameters to nearby regions, causing distortion of the near-field graphic dimensions. After all areas have been calibrated, the aspect ratio and corner shape of each position on the entire graphic remain consistent with the initial design, avoiding overall stretching and deformation due to increased projection distance. This results in an equidistant conformal calibration graphic that can adapt to different projection distances and maintains a stable shape. This graphic can then be passed to the subsequent processing steps of face alignment and calibration.

[0059] Based on the degree of palm face alignment calibration due to the overall translation of the pattern in the alignment calibration offset, a coarse positioning alignment segmented reference pattern is generated, which specifically includes the following steps:

[0060] Based on the alignment correction data, the equidistant conformal calibration graphic is subjected to overall translation and alignment correction to obtain the alignment correction graphic;

[0061] Based on the complete calibration graphic obtained after alignment correction, the calibration correction graphic is continuously segmented according to the roadway layout characteristics to obtain multiple sets of initial segmented calibration graphics.

[0062] Integrate the initial segment calibration graphics to generate coarse positioning and alignment segment reference graphics.

[0063] The system first reads the calculated alignment calibration offset, evaluates the compensation effect of the overall graphic translation operation on the alignment interference of the face, and derives the alignment translation correction data. The alignment calibration offset includes displacement values ​​in two orthogonal directions, lateral and longitudinal, with millimeters as the uniform unit of measurement. The main control system first introduces the alignment residual deviation coefficient to calculate the residual displacement error after compensation. The single-direction alignment translation correction value = reverse alignment calibration single-direction offset × alignment residual deviation coefficient. The alignment residual deviation coefficient is obtained statistically from multiple on-site blasting calibration tests and is usually less than 1, used to correct the difference between the idealized calculation of the alignment calibration offset and the actual mechanical transmission. For example, if the lateral alignment calibration offset is 1.2mm, the longitudinal alignment calibration offset is 0.7mm, and the alignment residual deviation coefficient is 0.95, substituting these values ​​into the calculation yields a lateral alignment translation correction value of 1.2 × 0.95 = 1.14mm and a longitudinal alignment translation correction value of 0.7 × 0.95 = 0.665mm. Combining and organizing these correction values ​​in both directions yields the complete set of alignment translation correction data. This set of data can be adapted to the mechanical motion characteristics of the laser galvanometer, avoiding the problems of overcompensation and greater reverse offset of the image when directly applying the original alignment calibration offset. It accurately defines the overall translation amplitude and direction that the calibration image needs to complete.

[0064] The main control unit retrieves the alignment and translation correction data and performs a comprehensive translation and alignment operation on the equidistant conformal calibration graphic that has already undergone optical path compensation, generating a calibration correction graphic after alignment and correction. During the overall translation process, the relative coordinates between each node and line within the graphic remain unchanged. The entire graphic only adjusts its spatial position according to the alignment and translation correction data. After correction, the horizontal coordinate of a single node = the original horizontal coordinate of the node + the horizontal alignment and translation correction value; the vertical coordinate of a single node after correction = the original vertical coordinate of the node + the vertical alignment and translation correction value. Taking a corner node with an original horizontal coordinate of 2600mm and a vertical coordinate of 1500mm as an example, and substituting the aforementioned correction values, the horizontal coordinate of the corrected node = 2600 + 1.14 = 2601.14mm, and the vertical coordinate of the corrected node = 1500 + 0.665 = 1500.665mm. The same translation logic is applied to update the position of all other coordinate points within the graphic. After the overall translation, the graphic offset caused by the blasting alignment deviation is basically canceled out. The laser-projected outline can be realigned with the actual reference position of the roadway, and the calibration correction graphic after alignment correction is obtained. The overall positional stability of the graphic is greatly improved, but it is still a continuous and complete graphic that fits the entire roadway. It is still necessary to adapt to the layout characteristics of different sections of the roadway through segmented processing.

[0065] The master control system uses the complete calibration and correction graphic after alignment as the processing base, and performs continuous segmented cutting based on the characteristics of the roadway layout to obtain multiple sets of initial segmented calibration graphics. Different sections of the roadway may have layout differences such as changes in support structure, minor adjustments in excavation direction, and variations in cross-sectional width. The master control system prioritizes natural boundary locations such as roadway support joints and excavation mileage boundaries as cutting boundaries, dividing the large-scale complete graphic into multiple independent segments of appropriate length. Each cut retains a small amount of overlapping coordinate areas on both sides of the cutting boundary to ensure the accuracy of subsequent segment splicing. The length of a single segment graphic can be set according to the conventional excavation advance of the roadway. For example, if the length of a single segment is set to 8m, the master control system will first convert the length unit to millimeters, so the length of a single segment = 8 × 1000 = 8000mm. A cutting line is set every 8000mm along the roadway extension direction, dividing the complete calibration and correction graphic into multiple initial segmented calibration graphics of similar length. Different segments correspond to different tunnel construction sections. Each segment retains its own complete outline coordinate information and is adapted to the surrounding rock conditions of its respective section, avoiding a large-scale decline in accuracy of long-distance single graphics due to the influence of local cross-section design.

[0066] The system unifies and integrates all the initial segmented calibration graphics after cutting, generating the final coarse positioning and alignment segmented reference graphics. During the integration process, the main control unit verifies the boundary coordinates of each initial segmented calibration graphic, eliminates fragmented and invalid graphic pieces generated during the cutting operation, and unifies the coordinate reference of each graphic segment, ensuring that the coordinate systems of adjacent segment boundaries are compatible. The integrated set of graphics retains the advantages of independent alignment correction for each segment while forming a complete and interconnected graphic system, namely the coarse positioning and alignment segmented reference graphics. This type of graphics completes multiple optimizations, including scheme parameter deviation compensation, optical path contour calibration, face alignment calibration, and long-distance segment splitting. The coordinate accuracy at the coarse positioning level meets the usage requirements and can be transferred to subsequent processes for fine-tuning of cross-sectional size adaptation and cross-sectional design offset.

[0067] It also includes the following steps:

[0068] Based on the cross-sectional dimension parameters, the overall contour boundary of the coarse positioning and alignment segmentation reference graphic is adapted and adjusted to obtain the transition calibration graphic.

[0069] The contour offset correction value is obtained by combining the local contour deviation of the transition calibration graphic with the tunnel cross-section design parameters;

[0070] The single-segment forming calibration pattern is determined based on the contour offset correction value.

[0071] Based on the coarse positioning and segmentation benchmark graphics, two types of core parameters for the corresponding roadway segment are extracted: cross-sectional dimension parameters and roadway cross-sectional design parameters. The main control unit reads the lateral and longitudinal coordinates of the outer boundary nodes of the benchmark graphics, calculates the original design width and height cross-sectional dimensions of the roadway using the coordinate differences between adjacent boundary nodes, and simultaneously retrieves the design parameters from the roadway cross-sectional design layout component to obtain the roadway cross-sectional design parameters. Dimension calculations uniformly use millimeters as the unit of measurement. For example, if the lateral coordinates of the left and right boundaries of the roadway are 1200mm and 5800mm respectively, then the width of the roadway section = 5800 - 1200 = 4600mm. The original design parameters returned by the surrounding rock layout component are mostly measured in micrometers. The main control unit uniformly performs unit conversion: the single cross-sectional design offset = original micrometer design value ÷ 1000, resulting in a design offset measured in millimeters. After unifying the units, both types of parameters are stored in the calculation cache to provide a quantitative basis for subsequent graphic adjustments. The coarse positioning and alignment segmentation benchmark graphic only solves the overall translation problem caused by alignment. The graphic outline still follows the theoretical design section, which deviates from the actual roadway section specifications and the outline after the surrounding rock deformation. Extracting the measured parameters can allow subsequent graphic adjustments to match the actual working conditions on site.

[0072] After obtaining the cross-sectional dimension parameters, the main control unit performs adaptive scaling and translation adjustments on the overall outline boundary of the coarse positioning and alignment reference graphic to generate a transition calibration graphic. By comparing the preset theoretical cross-sectional width and the measured cross-sectional width of the reference graphic, the overall scaling factor is calculated: cross-sectional adaptation scaling factor = measured cross-sectional width ÷ theoretical cross-sectional width. All lateral boundary coordinates of the graphic are updated according to the principle that the adjusted lateral coordinates = original lateral coordinates × cross-sectional adaptation scaling factor. Similarly, the longitudinal scaling factor is calculated based on the measured cross-sectional height to complete the overall adjustment of the longitudinal boundary coordinates. For example, if the theoretical cross-sectional width of the reference graphic is 4000mm and the measured cross-sectional width is 4400mm, the cross-sectional adaptation scaling factor = 4400 ÷ 4000 = 1.1. The boundary point with the original lateral coordinate of 3000mm will have a adjusted lateral coordinate of 3000 × 1.1 = 3300mm. The overall outline of the entire graphic is proportionally adapted, ensuring that the overall size of the calibration graphic matches the actual cross-sectional size of the roadway. Transition calibration graphics can eliminate the overall dimensional discrepancy between the theoretically designed cross-section and the actual excavated cross-section.

[0073] Based on the tunnel cross-section design parameters, the contour deviations at various local locations of the transition calibration graphic are compensated and corrected, and the contour offset correction value is obtained. The main control unit traverses each local contour point near the tunnel wall of the transition calibration graphic, reads the corresponding cross-section design offset, and the single-point contour offset correction value = the original contour coordinate offset of the point + the cross-section design offset. When the surrounding rock bulges inward into the tunnel, the cross-section design offset is positive, indicating that the corresponding laser contour needs to be shifted inward by a corresponding value; when the surrounding rock bulges outward, the cross-section design offset is negative, indicating that the corresponding laser contour needs to be shifted outward by a corresponding value. For example, if the original contour coordinates of a certain sidewall point have a lateral offset of 0mm, and the measured surrounding rock is designed to be 1.8mm into the tunnel, the contour offset correction value for this point is 0 + 1.8 = 1.8mm. The main control system statistically analyzes the contour offset correction values ​​corresponding to all boundary points of the transition calibration graphic to form a complete set of correction values. This set is used to offset the contour misalignment caused by the cross-section design and to compensate for local morphological differences that cannot be handled by the overall size adaptation.

[0074] The coordinates of each boundary point in the transition calibration graphic are adjusted based on the overall contour offset correction values ​​to finally determine the single-segment formed calibration graphic. The main control adds the corresponding contour offset correction value to the original coordinates of each point. After forming, the point coordinates = original coordinates of the transition graphic point + contour offset correction value. The laser contour lines of the entire segment are regenerated according to the updated coordinates. After all point coordinates are updated, the calibration graphic of this segment not only adapts to the cross-sectional specifications obtained from the tunnel excavation in terms of overall size, but also adapts to the concave and convex changes caused by the cross-sectional design in local locations. It can closely fit the actual tunnel wall shape of the current section of the tunnel, resulting in a single-segment formed calibration graphic with the accuracy required for single-segment calibration. Multiple segments of this type of graphic can be combined to complete the splicing of the entire tunnel contour.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology, characterized in that, The method includes the following specific steps: The original geometric calibration pattern is generated by combining the full-section contour laser output by the laser orientation instrument, the borehole positioning mark, and the support reference line with the projected beam. The primary geometric calibration pattern is obtained by matching the laser projection contour shape with the original geometric calibration pattern and the construction plan parameters. The primary geometric calibration pattern is corrected, and optical path compensation is performed by combining the projection distance from the laser orientation instrument to the alley wall to generate an equidistant conformal calibration pattern. Summarize the boundary coordinates of each segment of the calibration graphic, and stitch together adjacent boundary coordinates to generate a complete laser calibration profile.

2. The method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology according to claim 1, characterized in that, Also includes: The laser orientation device is equipped with a local touch screen, Bluetooth, and WiFi wireless communication unit, and can issue graphic editing commands based on the local touch screen or external explosion-proof mobile phones and computers.

3. The method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology according to claim 2, characterized in that, The original geometric calibration pattern is generated by combining the full-section contour laser output from the laser orientation instrument, the borehole positioning marks, and the support reference lines. The specific steps include: Adjust the projection working state of the laser orientation instrument according to the tunnel layout parameters to obtain the borehole positioning mark points, cross-sectional contour lines and contour and mark combination projection beams that are adapted to the current tunnel environment; A composition base is generated by combining various projection beams, and the composition base is fully fitted and projected according to the spatial shape of the tunnel wall to form the initial tunnel laser outline. The initial laser profile of the tunnel is adjusted to optimize the beam arrangement and profile fitting accuracy, thus obtaining the original geometric calibration pattern.

4. The method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology according to claim 3, characterized in that, The initial geometric calibration graphic is obtained by matching the laser projection contour shape with the original geometric calibration graphic and the construction plan parameters. The specific steps include: Based on the matching degree of the tunnel contour with the original geometric calibration graphic, the laser output contour is adapted to the brightness, and the laser projection contour reference standard that fits the current downhole environment is determined. Based on the laser projection contour reference, the overall contour shape of the original geometric calibration graphic is synchronously corrected across the entire domain to obtain the contour adaptation value. Integrate contour adaptation values ​​and contour optimization values ​​to generate a primary geometric calibration graphic with uniform light transmission and a complete contour.

5. The method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology according to claim 4, characterized in that, The initial geometric calibration pattern is corrected, and an equidistant conformal calibration pattern is generated by combining the optical path compensation with the projection distance from the laser orientation instrument to the alley wall. The specific steps include: The laser projection distance value is obtained by measuring the projection distance from the laser orientation instrument to the alley wall. Based on the optical path compensation correction data, the primary geometric calibration pattern is subjected to region-by-region optical path adaptation correction to obtain the equidistant conformal calibration pattern.

6. The method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology according to claim 5, characterized in that, Based on the degree of palm face alignment calibration due to the overall translation of the pattern in the alignment calibration offset, a coarse positioning alignment segmented reference pattern is generated, which specifically includes the following steps: Based on the alignment correction data, the equidistant conformal calibration graphic is subjected to overall translation and alignment correction to obtain the alignment correction graphic; Based on the complete calibration graphic obtained after alignment correction, the calibration correction graphic is continuously segmented according to the roadway layout characteristics to obtain multiple sets of initial segmented calibration graphics. Integrate the initial segment calibration graphics to generate coarse positioning and alignment segment reference graphics.

7. The method for laser projection calibration of underground coal mine roadways using galvanometer laser line projection technology according to claim 6, characterized in that, It also includes the following steps: Based on the cross-sectional dimension parameters, the overall contour boundary of the coarse positioning and alignment segmentation reference graphic is adapted and adjusted to obtain the transition calibration graphic. The contour offset correction value is obtained by combining the local contour deviation of the transition calibration graphic with the tunnel cross-section design parameters; The single-segment forming calibration pattern is determined based on the contour offset correction value.

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