3D Mining Navigation Map via Sensor Fusion
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Solution Overview
Problem
Current technologies are unable to generate high-precision three-dimensional navigation maps for fully mechanized mining faces with complex geological conditions, hindering the implementation of unmanned mining due to the complexity of coal seam structures and hazardous geological structures in coal mines.
Innovation Solution
A system comprising a vehicle-mounted mobile measurement platform equipped with a data receiving processor, laser radar, inertial navigation device, and ground penetrating radar, along with in-seam seismographs, which collects and processes data to create a high-precision three-dimensional navigation map through data acquisition, coordinate transformation, feature fusion, and Delaunay triangular meshwork generation, enabling accurate mapping of coal seams and hazardous structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing techniques are used for unmanned mining, then implementation is possible in simple geological conditions, but it becomes impossible in complex geological conditions with hazardous structures
Solution Approach 1:
The system segments the complex geological mapping task into multiple specialized measurement components: in-seam seismographs for deep geological structure detection, laser radar for surface topography mapping, ground penetrating radar for subsurface feature detection, and inertial navigation for precise positioning. Each component handles a specific aspect of the complex mapping problem, enabling the system to adapt to diverse and complex geological conditions while maintaining high reliability through specialized functionality.
2Measurement precision
If high-precision three-dimensional navigation map is generated, then accurate positioning and path planning are achieved, but system complexity increases
Solution Approach 1:
The system merges multiple measurement technologies (in-seam seismographs, laser radar, ground penetrating radar, inertial navigation device) into an integrated vehicle-mounted mobile measurement platform. This consolidation allows simultaneous data acquisition from multiple sensors, which are then processed together to generate high-precision three-dimensional navigation maps, achieving measurement precision while managing system complexity through integrated architecture.
Solution Approach 2:
The vehicle-mounted mobile measurement platform serves multiple functions: it performs positioning via inertial navigation, maps surface topography using laser radar, detects subsurface features with ground penetrating radar, and identifies deep geological structures with in-seam seismographs. This multi-functionality allows a single system to generate comprehensive high-precision navigation maps, reducing the need for separate specialized systems and managing overall complexity.
3Loss of information
If multiple measurement devices are integrated, then comprehensive data acquisition is achieved, but data processing complexity increases
Solution Approach 1:
The system performs preliminary data processing and coordinate transformation for each sensor type before integration. The inertial navigation device pre-calculates position and attitude information, the laser radar pre-processes point cloud data, and the geological exploration devices pre-process their respective measurements. This preliminary action organizes raw data into standardized formats, reducing the complexity of subsequent integrated processing while ensuring no information is lost.
Solution Approach 2:
The system introduces a central processor as an intermediary that receives data from all measurement devices, performs coordinate transformations, and integrates the data into a unified navigation map. This intermediary component manages the complexity of processing multiple data streams by providing a centralized coordination point, transforming heterogeneous sensor data into a coherent three-dimensional representation without losing geological information.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides accurate navigation information for fully mechanized mining equipment, facilitating high-precision positioning, information perception, and path planning, thereby supporting the realization of unmanned mining operations by generating a high-precision three-dimensional navigation map.
Implementation Method 1
emitting a laser beam from the laser radar to the surface of roadway roof continuously, and calculating the distance between the roadway surface and the laser radar according to the return tune difference of the received reflected laser beam
Implementation Method 2
calculating the distance between the roadway surface and the laser radar according to the return tune difference of the received reflected laser beam
Implementation Method 3
calculating the position, attitude and movement trajectory information of the vehicle-mounted mobile measurement platform with the inertial navigation device according to the rotational angular velocity and acceleration vector of the vehicle-mounted mobile measurement platform relative to the inertial system
Implementation Method 4
emitting electromagnetic wave signals from the ground penetrating radar to the coal seam at the roadway roof via an emitter unit, and accurately calculating the thickness data of the remaining coal in the upper and lower roadway roofs of the fully mechanized mining face with a receiver unit by detecting the propagation time of the electromagnetic wave signals
Implementation Method 5
in-seam seismic signal transmitters and receivers, the in-seam seismic signal receivers transmit data to the data receiving processor via the wireless transmitter
Data Source
AI summary
A generation system and method for a high-precision three-dimensional navigation map of a fully mechanized mining surface, applicable to use in the technical field of unmanned mining. The generation system comprises a channel wave seismometer, a laser radar, a combined navigation device, a ground penetrating radar, and a data processing unit; the data processing unit acquires data collected by sensors; perform coordinate conversion, feature fusion and consistency processing on the collected data to generate a Delaunay triangle network of a coal seam, a fault/fold, and a roadway; draw a high-precision profile map of the triangle map, calculate a topological relation of the profile map, generate a topological data structure of the profile map, establish a navigation information automatic query database platform based on the high-precision profile map, and construct the high-precision three-dimensional navigation map of the fully mechanized mining surface. The high-precision three-dimensional navigation map generated by the present invention can provide accurate thickness information of the coal seam, a varied dip angle of the coal seam and a position of a dangerous geological structure space to fully mechanized mining equipment, and has functions such as high-precision positioning, information sensing, and path planning.