CN111612902B - Method for constructing coal mine roadway three-dimensional model based on radar point cloud data - Google Patents
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Abstract
A method for constructing a three-dimensional model of a coal mine based on radar point cloud data is based on three-dimensional point cloud data obtained by scanning a radar-to-coal mine roadway on a mobile platform, and the method comprises the following steps of: the method comprises the steps of installing equipment, scanning and obtaining point cloud data at different positions of a roadway of a mobile platform, carrying out platform projection on the point cloud data, obtaining discrete point representations of a cross section of the roadway, fitting the discrete points by using a polynomial, and obtaining a description method of an outer contour of the roadway; calculating coordinate values at the equipartition points by using a fitting polynomial; and connecting the corresponding points of the front tunneling plane outline and the rear tunneling plane outline to construct the tunnel three-dimensional model. The invention can realize the automatic and accurate construction of the roadway model.
Description
Technical Field
The invention belongs to a three-dimensional space modeling technology, is particularly suitable for the scenes of tunneling, underground pipe gallery and the like in the coal mine industry, and realizes automatic real-time modeling of a space structure based on radar point cloud data.
Background
The method is used for standardizing the underground operation position, establishing a roadway space three-dimensional model and realizing real-time detection.
Heading machine is the main equipment of current coal mining. In order to ensure the safety and the exploitation efficiency in the operation process, the heading machine must strictly travel along a pre-designed central axis position to realize exploitation of a given working surface. However, due to the limitation of underground movable space and viewing angle, the operator of the heading machine can only judge whether the excavation position is accurate through experience, and the risk of deviating from the preset operation range is large, so that serious potential safety hazards are brought to mine operation.
Radar scanning technology provides a data basis for three-dimensional modeling of real space. According to the emission characteristics of the object on the directionally emitted radar waves, the radar device can determine the position information of the reflection point relative to the emission wave source by receiving the reflection signals. Based on the idea, the intelligent mining and automatic production are realized by automatically scanning the section and the space three-dimensional shape of the coal mine tunnel at the tail part of the heading machine in real time by installing a low-cost radar device at the tail part of the heading machine and outputting original point cloud data, upgrading a traditional artificial measurement mode into an intelligent measurement mode, and then rapidly and accurately outputting complex point cloud data into a tunnel (actual) space three-dimensional model.
Disclosure of Invention
In order to help a coal mine comprehensive center to quickly and accurately know the current tunneling operation route, tunneling completion conditions, actual shapes of all working faces of a roadway and the like, a three-dimensional roadway model generated by a three-dimensional radar scanner installed at the tail of a tunneling machine is utilized to realize that coal mine visualization software provides three-dimensional display materials, the automation, digitalization and informatization levels are greatly improved, the goal of obtaining the maximum resource benefit with minimum resources is realized, and due to the fact that radar point cloud data has the following characteristics: (1) the amount of point cloud data is huge; (2) uneven quality of the point cloud; (3) Because of radar scanning dead zones and partial point cloud loss, how to design an algorithm to automatically construct a roadway space three-dimensional model based on radar point cloud data is the core of the invention.
The technical scheme adopted for solving the technical problems is as follows:
a method for constructing a three-dimensional model of a coal mine roadway based on radar point cloud data comprises the following steps:
1) The method comprises the steps that 1, building equipment for collecting radar data, wherein the equipment comprises a vehicle-mounted platform (usually a heading machine), 1 laser radar and 1 industrial personal computer, and the laser radar is vertically arranged at the tail part of the vehicle-mounted platform, so that a radar host is ensured to vertically downwards; the radar, the industrial personal computer and the vehicle-mounted platform control system realize data transmission and exchange through network cables;
2) In the moving process of the vehicle-mounted platform, recording the moving speed and the moving distance information P of the platform, wherein P is a binary parameter and comprises the speed v of the platform at the moment t t Distance of movement d t ；
3) When the vehicle-mounted platform travels a distance d t When the radar is located, the roadway is scanned around the advancing direction of the platform, namely the z-axis, and the coordinate value (x d ，x d ，z d ) i Wherein the subscript d represents the coordinates of the reflection point given by the radar with the platform as a reference relative to the initial plane, and the superscript i represents the ith reflection point obtained in the scanning process;
4) The acquired coordinate value (x d ，x d ，z d ) i According to z d Values were sorted in ascending order and the first 50% of the points ((x) d ，y d ，z d ) i I=1, 2,3, where, N) calculating the average value
Resulting in a plane z=z' d ；
5) Projecting the N points to a plane z=z '' d Obtain the coordinates (x) d ，y d ，z′ d ) i Fitting the projection coordinates by using a polynomial to obtain a fitting function
Wherein a is j For fitting polynomial coefficients, n is the highest order of the polynomial;
6) Respectively calculating the maximum and minimum x-axis coordinate values in the N fitting point coordinates, namely
x min ＝min((x d ) i ，i＝1，2，3，...，N)
x max ＝max((x d ) i ，i＝1，2，3，...，N)
Then interval x min ，x max ]Equally divided into M equal parts x k(＝x min +kΔx, k=0, 1,2,..m), where M is a user-defined constant, for determining the accuracy of the representation of the tunnelling plane, calculating the corresponding y-axis coordinate value y using the polynomial obtained in step 5) k Thereby obtaining z=z 'in the real coordinate system' d +d t Discrete representation of the profile of the face (x k ，y k ，Z)
7) The tunneling platform moves each different d t After' the above steps 2) -6) are repeated to obtain the heading face z=z ′ d +d t Outer contour discrete representation at' x k ’,y k ',Z’)。
8) And connecting the corresponding points of the front tunneling plane outline and the rear tunneling plane outline to construct the tunnel three-dimensional model.
Further, in the step 1), initial parameters are determined: the method comprises the steps of manually measuring related data such as the length of a heading machine body, the width of the heading machine body, the height of the machine body, the horizontal offset of a hinge point, the height difference of the hinge point, the horizontal offset of a radar installation position from the hinge point, the vertical offset of the radar installation position from the hinge point, the front-back offset of the radar installation position from the hinge point, the error of the radar installation angle and the like.
The method can realize different model construction precision according to different parameters, for example, the increase of the M value can more accurately represent the real shape of the tunneling plane in the roadway. Meanwhile, due to the adoption of the multi-point projection method, the difficulty in model construction caused by coordinate errors in the acquisition process is avoided, and real-time three-dimensional modeling of the roadway is easy to realize.
The beneficial effects of the invention are mainly shown in the following steps: the measuring equipment is simple and easy to install and realize; the model construction is based on the spatial structure precision measurement result of the actual roadway, and the model precision is high.
Drawings
Fig. 1 is a schematic diagram of a roadway three-dimensional model construction method based on radar point cloud data.
The specific embodiment is as follows:
the invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, a method for constructing a three-dimensional model of a coal mine roadway based on radar point cloud data comprises the following steps:
1) The construction equipment collects radar data, and comprises a vehicle-mounted platform (usually a heading machine), 1 laser radar and 1 computer.
The roadway three-dimensional point cloud acquisition system comprises a vehicle-mounted platform (1), a three-dimensional scanning radar (2) (taking RS-LiDar-16 as an example) and a computer platform (3). The mobile and radar of the vehicle-mounted platform are connected with the computer platform, so that data real-time transmission is realized.
Establishing an initial coordinate system: the coordinate system related to the invention comprises two (1) a natural coordinate system based on a mobile traveling platform and (2) a Cartesian coordinate system fixed on a radar. The former takes a roadway entry as an initial point; the origin of the latter coordinate system is the radar itself, the z-axis is parallel to the tunnel, and the xy-plane is parallel to the tunnel cross-section.
2) In the moving process of a vehicle-mounted platform (heading machine), recording the moving speed and moving distance information P of the platform, wherein P is a binary parameter and comprises the speed v of the platform at the moment t t Distance of movement d t ；
3) When the vehicle-mounted platform travels a distance d t When the radar is located, the roadway is scanned around the advancing direction of the platform, namely the z-axis, and the coordinate value (x d ，x d ，z d ) i Wherein the subscript d represents the coordinates of the reflection point given by the radar with the platform as a reference relative to the initial plane, and the superscript i represents the ith reflection point obtained in the scanning process;
4) The acquired coordinate value (x d ，x d ，z d ) i According to z d Values were sorted in ascending order and the average was calculated by taking the first 50% of the points
Resulting in a plane z=z' d ；
5) Projecting the N points to a plane z=z '' d Obtain the coordinates (x) d ，y d ，z′ d ) i Fitting the projection coordinates by using a polynomial to obtain a fitting function
Wherein a is j For fitting polynomial coefficients, n is the highest order of the polynomial;
6) Respectively calculating the maximum and minimum x-axis coordinate values in the N fitting point coordinates, namely
x min ＝min((x d ) i ，i＝1，2，3，...，N)
x max ＝max((x d ) i ，i＝1，2，3，...，N)
Then interval x min ，x max ]Divided equally into M equal parts x k (＝x min +kΔx, k=0, 1,2,..m), where M is a user-defined constant, for determining the accuracy of the representation of the tunnelling plane, calculating the corresponding y-axis coordinate value y using the polynomial obtained in step 5) k . Thereby obtaining Z=z 'in the real coordinate system' d +d t Discrete representation of the profile of the face (x k ，y k ，Z)；
7) The tunneling platform moves each different d t After ' the above steps 2) -6) are repeated to obtain the heading face z=z ' ' d +d t Outer contour discrete representation at' x k ’，y k ’，Z’)；
8) And connecting the corresponding points of the front tunneling plane outline and the rear tunneling plane outline to construct the tunnel three-dimensional model.
Claims (2)
1. The method for constructing the three-dimensional model of the coal mine roadway based on the radar point cloud data is characterized by comprising the following steps of:
1) Constructing equipment for acquiring radar data, wherein the equipment comprises a vehicle-mounted platform, 1 laser radar and 1 computer, and the laser radar is vertically arranged at the tail part of the vehicle-mounted platform to ensure that a radar host is vertically downward; realizing data transmission and exchange by using a laser radar, an industrial personal computer and a vehicle-mounted platform control system through network cables;
2) In the moving process of the vehicle-mounted platform, recording the moving speed and the moving distance information P of the platform, wherein P is a binary parameter and comprises the speed v of the platform at the moment t t Distance of movement d t ；
3) When the vehicle-mounted platform travels a distance d t When the radar is located, the roadway is scanned around the advancing direction of the platform, namely the z-axis, and the coordinate value (x d ,y d ,z d ) i Wherein the subscript d represents the coordinates of the reflection point given by the radar with reference to the initial plane of the platform, and the superscript i represents the ith obtained during scanningReflection points;
4) The acquired coordinate value (x d ,y d ,z d ) i According to z d Values were sorted in ascending order and the average was calculated by taking the first 50% of the points
Obtaining plane z=z ′ d ；
5) Projecting the N points to a plane z=z ′ d Obtain the coordinates (x) d ,y d ,z ′ d ) i Fitting the projection coordinates by using a polynomial to obtain a fitting function
Wherein a is j For fitting polynomial coefficients, n is the highest order of the polynomial;
6) Respectively calculating the maximum and minimum x-axis coordinate values in the N fitting point coordinates, namely
x min ＝min((x d ) i ,i＝1,2,3,…,N)
x max ＝max((x d ) i ,i＝1,2,3,…,N)
Then interval x min ,x max ]Divided equally into M equal parts x k ，x k ＝x min +kΔx, k=0, 1,2,..m, where M is a user-defined constant, for determining the accuracy of representation of the tunneling plane, calculating the corresponding y-axis coordinate value y using the polynomial obtained in step 5) k Thereby obtaining z=z in the real coordinate system ′ d +d t Discrete representation of the profile of the face (x k ,y k ,Z)；
7) The tunneling platform moves each different d t After' the above steps 2) -6) are repeated to obtain the heading face z=z ′ d +d t Outer contour discrete representation at' x k ’,y k ',Z’)；
8) And connecting the corresponding points of the front tunneling plane outline and the rear tunneling plane outline to construct the tunnel three-dimensional model.
2. The method for constructing a three-dimensional model of a coal mine roadway based on radar point cloud data as claimed in claim 1, wherein in the step 1), initial parameters are determined: the method comprises the steps of manually measuring the length of a heading machine body, the width of the heading machine body, the height of the machine body, the horizontal offset of a hinging point, the height difference of the hinging point, the horizontal offset of a radar installation position from the hinging point, the vertical offset of the radar installation position from the hinging point, the front-back offset of the radar installation position from the hinging point and the radar installation angle error.
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| CN113359150B (en) * | 2021-05-12 | 2024-02-13 | 武汉中仪物联技术股份有限公司 | Method and device for acquiring cross-section profile of pipeline, electronic equipment and storage medium |
| CN113284245B (en) * | 2021-05-14 | 2023-06-30 | 矿冶科技集团有限公司 | Roadway three-dimensional model construction method and device and electronic equipment |
| CN113250693B (en) * | 2021-05-31 | 2025-02-11 | 北京瑞华高科技术有限责任公司 | Excavation control device, method and excavation equipment |
| CN113686251B (en) * | 2021-08-19 | 2022-12-13 | 山东科技大学 | A method and system for measuring the upward and downward displacement of equipment in a fully mechanized mining face |
| CN114155245B (en) * | 2022-02-10 | 2022-05-03 | 中煤科工开采研究院有限公司 | Surrounding rock deformation monitoring method and device based on three-dimensional point cloud under coal mine |
| CN115507912A (en) * | 2022-09-28 | 2022-12-23 | 天地（常州）自动化股份有限公司 | Calculation method and calculation system for measuring coal mine yield in real time |
| CN117351152B (en) * | 2023-10-23 | 2024-06-25 | 南京科技职业学院 | A three-dimensional point cloud development method for rough surface of tunnel based on coordinate transformation |
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| JP2016205837A (en) * | 2015-04-15 | 2016-12-08 | 佐藤工業株式会社 | Management method of tunnel |
| CN105115442A (en) * | 2015-07-28 | 2015-12-02 | 中国神华能源股份有限公司 | Tunnel internal surface form detecting method, apparatus and system |
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