A method for precise positioning of coal shearer in 3D model of coal seam in working face

Abstract

The invention discloses a method for accurately positioning a coal mining machine in a working face coal seam three-dimensional model, which comprises the following steps of: (1) installing a laser radar and an inertial navigation device on the coal mining machine, and quickly acquiring a laser scanning roadway three-dimensional model and inertial coordinates of the coal mining machine; (2) respectively extracting feature point sets of the three-dimensional model of the roadway and the three-dimensional model of the working face coal seam; (3) searching corresponding feature points by using aKD tree algorithm to carry out initial matching, and establishing a feature coarse matching point set based on an NDT algorithm; (4) screening the coarse matching point set by using an RANSAC method to remove wrong matching point pairs; And (5) establishing a characteristic fine matching point set based on an ICP algorithm, and accurately aligning the coordinate system of the coal mining machine and the coordinate system of the working face coal seam three-dimensional model to realize accurate positioning of the coal mining machine in the working face coal seam three-dimensional model. The method has the advantages that the relevance between the coal mining machine and the working face coal seam three-dimensional model can be quickly established, and the real-time state description problemof the coal mining machine in the coal seam three-dimensional model is solved.

Description

technical field [0001] The invention relates to a method for precise positioning in a three-dimensional model, in particular to a method suitable for precise positioning of a shearer in a three-dimensional model of a coal seam in a working face, and belongs to the technical field of coal mine automation / unmanned mining. Background technique [0002] Unmanned mining of coal mines is a cutting-edge technology commonly pursued by the international coal mining field. It is an important means to reduce casualties and ensure safe production, and it is also an effective way for my country's coal mines to achieve safe, efficient and green mining. At present, the main technical bottleneck restricting the unmanned underground mining of coal mines is the identification of coal-rock interfaces. Since the 1960s, the world's major coal-producing countries (Britain, the United States, Australia, China, the former Soviet Union, etc.) have successively proposed the gamma-ray method , radiois...

AI Technical Summary

Problems solved by technology

However, how to establish the real-time state description of the shearer in the 3D model of the coal seam and realize the precise positioning of the shearer in the 3D model of the coal seam is a key technology that urgently needs to be solved, and the research in this area at home and abroad is still blank stage

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