CN-115900603-B - Method and device for measuring fully-mechanized coal mining face

CN115900603BCN 115900603 BCN115900603 BCN 115900603BCN-115900603-B

Abstract

The invention discloses a method and a device for measuring a fully mechanized coal mining face. The method comprises the steps of controlling a radar device to move on a fully-mechanized coal mining face, and controlling the radar device to collect N frames of point cloud data of the fully-mechanized coal mining face in the moving process of the radar device, wherein N is a positive integer, obtaining a motion track of the radar device based on the N frames of point cloud data, and obtaining shape parameters of the fully-mechanized coal mining face based on the motion track. Therefore, the radar device can acquire point cloud data to obtain the shape parameters of the fully-mechanized coal mining face, and compared with the method for measuring the fully-mechanized coal mining face by an odometer in the related art, the radar device has the advantages of being high in accuracy, free from being influenced by illumination, high in anti-interference performance and the like, and the accuracy and the reliability of measuring the fully-mechanized coal mining face are improved.

Inventors

Wu Fangpeng
GUAN SHIYUAN
REN WEI
CUI YAO
FU ZHEN
ZHANG XUELIANG

Assignees

北京天玛智控科技股份有限公司
北京煤科天玛自动化科技有限公司

Dates

Publication Date: 20260508
Application Date: 20221212

Claims (4)

1. A method of measuring a fully mechanized coal mining face, comprising: determining a moving route of the radar device based on the extending direction of the fully mechanized coal mining face; According to the moving route, controlling the radar device to move on the fully-mechanized coal mining face, and controlling the radar device to collect N frames of point cloud data of the fully-mechanized coal mining face in the moving process of the radar device, wherein N is a positive integer; acquiring the pose of the radar device in the 1 st frame based on the point cloud data of the 1 st frame; Starting from point cloud data of the 2 nd frame, obtaining the pose of the radar device in the i th frame based on the point cloud data of the i th frame, the point cloud data of the i-1 th frame and the pose of the i-1 th frame which are traversed currently, and obtaining N frame poses of the radar device until the traversing of the N frame point cloud data is finished, wherein i is more than or equal to 2 and less than or equal to N, and i is a positive integer; obtaining a motion trail of the radar device based on the N frames of the pose; Based on the motion trail, obtaining shape parameters of the fully-mechanized coal mining face, wherein the shape parameters comprise straightness and levelness of the fully-mechanized coal mining face; The obtaining the shape parameter of the fully-mechanized coal mining face based on the motion trail comprises the following steps: projecting the motion trail to a first plane to obtain a first curve, wherein the first curve is used for representing the straightness of the fully-mechanized working face, and And projecting the motion trail to a second plane to obtain a second curve, wherein the second curve is used for representing the levelness of the fully mechanized coal mining face.
2. The method according to claim 1, wherein the obtaining the pose of the radar apparatus at the i-th frame based on the currently traversed point cloud data of the i-th frame, the point cloud data of the i-1-th frame, and the pose at the i-1-th frame includes: Based on the point cloud data of the ith frame and the point cloud data of the i-1 th frame, obtaining the relative pose of the radar device; And obtaining the pose of the ith frame based on the pose of the ith-1 frame and the relative pose.
3. The method according to any one of claims 1-2, wherein before the obtaining the motion trajectory of the radar apparatus based on the N frames of the point cloud data, further comprises: and carrying out distortion correction on the N frames of point cloud data.
4. A fully mechanized coal mining face measurement device, comprising: The system comprises an acquisition module, a radar device, a control module and a control module, wherein the acquisition module is used for determining a moving route of the radar device based on the extending direction of a fully-mechanized coal mining face, controlling the radar device to move on the fully-mechanized coal mining face according to the moving route, and controlling the radar device to acquire N frames of point cloud data of the fully-mechanized coal mining face in the moving process of the radar device, wherein N is a positive integer; The system comprises a first acquisition module, a motion track acquisition module and a motion track acquisition module, wherein the first acquisition module is used for acquiring the pose of the radar device in the 1 st frame based on the point cloud data of the 1 st frame, acquiring the pose of the radar device in the i st frame based on the point cloud data of the 1 st frame, starting from the point cloud data of the 2 nd frame, and acquiring the motion track of the radar device based on the point cloud data of the i st frame, the point cloud data of the i-1 st frame and the pose of the i-1 st frame which are traversed currently till the traversing of the N-frame point cloud data is finished, wherein i is more than or equal to 2 and less than or equal to N, i is a positive integer; The second acquisition module is used for obtaining the shape parameters of the fully-mechanized coal mining face based on the motion trail, wherein the shape parameters comprise straightness and levelness of the fully-mechanized coal mining face; the second acquisition module is further configured to project the motion trail to a first plane to obtain a first curve, where the first curve is used to represent the straightness of the fully-mechanized coal mining face, and And projecting the motion trail to a second plane to obtain a second curve, wherein the second curve is used for representing the levelness of the fully mechanized coal mining face.

Description

Method and device for measuring fully-mechanized coal mining face Technical Field The invention relates to the technical field of coal mining, in particular to a method and a device for measuring a fully-mechanized coal mining face. Background The shape parameters of the fully mechanized coal mining face are critical to the normal operation of the fully mechanized coal mining face. For example, the fully mechanized mining face is composed of a plurality of hydraulic supports, and the hydraulic supports are required to be on the same straight line in an ideal state. However, in the related art, the fully-mechanized mining face is mostly measured by an odometer, the accuracy of the odometer is easily affected by factors such as vibration, climbing, skidding and the like, and the reliability is low. Disclosure of Invention The present invention aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, an object of the present invention is to provide a method for measuring a fully-mechanized coal mining face, which can acquire point cloud data through a radar device to obtain shape parameters of the fully-mechanized coal mining face, and compared with the method in which most of the prior art measures the fully-mechanized coal mining face through an odometer, the radar device has the advantages of high precision, no influence of illumination, strong anti-interference performance, etc., and improves the measuring precision and reliability of the fully-mechanized coal mining face. A second object of the present invention is to provide a measuring device for a fully mechanized coal mining face. A third object of the present invention is to propose an electronic device. A fourth object of the present invention is to propose a computer readable storage medium. An embodiment of the first aspect of the invention provides a method for measuring a fully-mechanized coal mining face, which comprises the steps of controlling a radar device to move on the fully-mechanized coal mining face, controlling the radar device to collect N frames of point cloud data of the fully-mechanized coal mining face in the moving process of the radar device, wherein N is a positive integer, obtaining a motion track of the radar device based on the N frames of point cloud data, and obtaining shape parameters of the fully-mechanized coal mining face based on the motion track. According to the measuring method of the fully-mechanized coal mining face, the radar device is controlled to move on the fully-mechanized coal mining face, in the moving process of the radar device, the radar device is controlled to collect N frames of point cloud data of the fully-mechanized coal mining face, the motion trail of the radar device is obtained based on the N frames of point cloud data, and the shape parameters of the fully-mechanized coal mining face are obtained based on the motion trail. Therefore, in the method, the point cloud data can be acquired through the radar device so as to obtain the shape parameters of the fully-mechanized coal mining face, and compared with the method for measuring the fully-mechanized coal mining face through the odometer in the related art, the radar device has the advantages of being high in precision, free from the influence of illumination, high in anti-interference performance and the like, and the precision and the reliability of the fully-mechanized coal mining face measurement are improved. In addition, the method for measuring the fully-mechanized coal mining face according to the embodiment of the invention may further have the following additional technical features: in one embodiment of the invention, the control of the radar device to move on the fully mechanized coal mining face comprises the steps of determining a moving route of the radar device based on the extending direction of the fully mechanized coal mining face and controlling the radar device to move on the fully mechanized coal mining face according to the moving route. In one embodiment of the invention, the obtaining of the motion trail of the radar device based on the N frames of the point cloud data comprises obtaining N frames of pose of the radar device based on the N frames of the point cloud data and obtaining the motion trail based on the N frames of pose. In one embodiment of the invention, the N-frame pose of the radar device is obtained based on the N-frame point cloud data, and the N-frame pose of the radar device is obtained based on the 1 st-frame point cloud data, starting from the 2 nd-frame point cloud data, and obtaining the pose of the radar device in the i-th frame based on the currently traversed i-frame point cloud data, i-1-frame point cloud data and the i-1-frame pose until the N-frame point cloud data traversal is finished, wherein i is more than or equal to 2 and less than or equal to N, and i is a positive integer. In one embodiment of the invention, the pose of the ra