2D laser scanning based rapid detection method for heading window of heading machine

Abstract

The invention discloses a 2D laser scanning based rapid detection method for a heading window of a heading machine. The detection method comprises that horizontal and vertical 2D scanning is carried out on a heading working face, outliers are removed from collected original point cloud data; linear fitting, central line solving and base point determining are carried out on outlier removed horizontal and vertical 2D scanning point cloud data, and preparation for window detection is completed; and a target distance is input, a vertical line is drawn at the position in the target distance from the base point, serving as the origin point, in the horizontal central line, another vertical line is drawn at the position in the target distance from the base point, serving as the origin point, in the vertical central line, the vertical lines intersects with two lines obtained by fitting respectively, point pairs are obtained, the spatial distance of the horizontal point pair equals the width of the heading window in the target distance, and the spatial distance of the vertical point pair equals the height of the heading window in the target distance. According to the technical scheme of the invention, the sizes of heading windows in multiple target distances can be rapidly detected, timely effective reference and correction are provided for workers, and the reasonableness of the practical heading process is ensured.

Description

technical field [0001] The invention belongs to the field of laser scanning and point cloud data processing, and more specifically relates to a method for quickly detecting a tunneling window of a tunneling machine based on two-dimensional laser scanning. Background technique [0002] In the current coal production, the roadheader is mainly used for roadway excavation, which is an indispensable equipment for modern mine production. The direction and size of the roadway are the key points of the entire roadway. The underground roadway is often manually operated by the underground staff. During excavation, it is difficult to ensure the size of the excavation window. In addition, a large amount of dust will be generated during the excavation process, which will directly endanger the health of on-site workers. Therefore, how to automatically and quickly detect the size of the tunneling window on the tunneling face is an urgent problem to be solved. [0003] In view of the actua...

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Problems solved by technology

[0002] In the current coal production, the roadheader is mainly used for roadway excavation, which is an indispensable equipment for modern mine production. The direction and size of the roadway are the key points of the entire roadway. The underground roadway is often manually operated by the underground staff. Excavation, the size of the excavation window is difficult to guarantee, in addition, a large amount of dust will be generated during the excavation process, which will directly endanger the health of on-site workers

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