CN117518197B - Contour marking method for underground coal mine tunneling roadway - Google Patents
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention relates to a contour marking method for an underground tunneling roadway of a coal mine, and belongs to the technical field of intelligent coal mines. Comprising the following steps: the laser radar performs three-dimensional laser scanning on an operation area in the direction of the heading machine at a first position, obtains initial point clouds acquired at the time t and the time t+1, and sends the initial point clouds to a server; the method comprises the steps that a server filters initial point clouds acquired at the time t and the time t+1, extracts tunneling roadway point clouds, carries out tunneling roadway point cloud registration, obtains pose changes of a tunneling machine between the time t and the time t+1, and establishes a first local point cloud map according to the pose changes; the laser radar performs three-dimensional laser scanning on an operation area in the direction of the heading machine at a second position, and the server establishes a second local point cloud map according to the scanning result of the laser radar; and the server splices the first local point cloud map and the second local point cloud map to obtain a global contour map of the tunneling roadway. The invention has the advantages of real-time performance, non-contact performance, small manpower requirement and the like.
Description
Technical Field
The invention relates to the technical field of intelligent coal mines, in particular to a contour marking method for underground tunneling roadways of coal mines.
Background
When the development machine carries out development operation, a plurality of scenes need to mark the outline of the development roadway so as to realize three-dimensional display of the development roadway, thereby being convenient for observing the operation condition of the development machine. For example, by marking the profile of the tunnelling tunnel, real-time over-and under-excavation detection can be performed on the tunnelling tunnel.
Conventionally, when marking the outline of a tunneling roadway under a coal mine, section measurement is carried out at intervals of 5-10m mainly through measuring instruments such as theodolites and total stations, and a section chart is drawn based on measurement data. However, the section view only reflects local information of the tunnelling roadway. In addition, the traditional tunneling roadway profile marking method needs to consume a large amount of manpower and material resources, and has potential safety hazards, which is contrary to the intelligent development of coal mines.
Disclosure of Invention
In order to solve the technical problems, the invention provides a contour marking method for a coal mine underground tunneling roadway. The technical scheme of the invention is as follows:
the contour marking method of the underground tunneling roadway of the coal mine comprises the following steps:
s1, after tunneling operation of the tunneling machine is completed, when the tunneling machine body is stationary and support operation is started, performing three-dimensional laser scanning on an operation area in the direction of the tunneling machine by a laser radar at a first position, obtaining initial point clouds acquired at a time t and a time t+1, and sending the initial point clouds to a server; the laser radar is fixed right below the tunnel roof plate;
s2, the server filters initial point clouds acquired at the time t and the time t+1, and extracts tunneling roadway point clouds from the point clouds filtered at the time t and the time t+1 by adopting a RANSAC algorithm;
s3, registering tunneling roadway point clouds corresponding to the t moment and the t+1 moment by the server, obtaining the pose change of the tunneling machine between the t moment and the t+1 moment, and establishing a first local point cloud map according to the pose change of the tunneling machine between the t moment and the t+1 moment;
s4, moving the laser radar to a second position along with the forward movement of the heading machine, performing three-dimensional laser scanning on an operation area in the direction of the heading machine at the second position by the laser radar, and establishing a second local point cloud map by the server according to a scanning result of the laser radar;
and S5, the server splices the first local point cloud map and the second local point cloud map to obtain a global contour map of the tunneling roadway.
Optionally, in the step S2, when the server filters the initial point cloud acquired at the time t, the method includes:
s21, for any laser point in the initial point cloud acquired at the moment t, the server judges whether any laser point is a view field edge point of the laser radar; and if so, filtering out any laser point.
Optionally, in S21, when determining whether any laser point is a field edge point of the lidar, the server includes:
s211, the server calculates the angle of any laser point through the following formula (1);
（1）
in the formula (1), i represents an initial point cloud acquired at the time tThe ith laser spot, phi i Represents the angle of the laser spot i, (x) i ，y i ，z i ) Representing the coordinates of the laser spot i;
s212, if the angle of any laser point is larger than the preset field angle of the laser radar, determining that any laser point is a field edge point of the laser radar.
Optionally, in the step S2, when the server filters the initial point cloud acquired at the time t, the method includes:
s22, the server eliminates the laser intensity I from the initial point cloud acquired at the moment t i At [ I ] min， I max ]Laser points outside the interval, wherein i represents initial point cloud acquired at time tI is the ith laser spot of (1) i The laser intensity of the laser spot i is shown.
Optionally, in the step S2, when the server filters the initial point cloud acquired at the time t, the method includes:
s23, the server eliminates laser points with incidence angles smaller than a preset threshold value from the initial point cloud acquired at the moment t.
Optionally, in S23, when the server rejects the laser point with the incident angle smaller than the preset threshold from the initial point cloud acquired at the time t, the method includes:
s231, for any laser point in an initial point cloud acquired at the moment t, acquiring n nearest laser points;
s232, using a least square method to fit any laser point and the nearest n laser points into a plane, calculating a plane normal vector of the plane passing through the any laser point, calculating an included angle theta between the plane normal vector and a vector formed by connecting an origin and the any laser point, and eliminating the any laser point if the angle theta is less than or equal to 20.
Optionally, the step S3 of registering the tunneling roadway point clouds corresponding to the time t and the time t+1 by the server, to obtain a pose change of the tunneling machine between the time t and the time t+1, and when establishing the first local point cloud map according to the pose change of the tunneling machine between the time t and the time t+1, the method includes:
the server uses an iterative nearest point algorithm to match the tunneling roadway point cloud corresponding to the T moment and the tunneling roadway point cloud corresponding to the t+1 moment to obtain a rotation matrix R and a translation vector T of the tunneling machine between the T moment and the t+1 moment, and projects the tunneling roadway point cloud corresponding to the t+1 moment to the tunneling roadway point cloud corresponding to the T moment according to the rotation matrix R and the translation vector T of the tunneling machine to obtain a first local point cloud map.
Optionally, in the step S5, when the server splices the first local point cloud map and the second local point cloud map to obtain the global contour map of the tunneling roadway, the method includes:
the server takes the roadway head-on position of the first local point cloud map and the second local point cloud map as a matched initial value, and splices the first local point cloud map and the second local point cloud map through an iterative nearest point algorithm to obtain a global contour map of the tunneling roadway.
Optionally, the lidar is a solid-state-like lidar.
All the above optional technical solutions can be arbitrarily combined, and the detailed description of the structures after one-to-one combination is omitted.
By means of the scheme, the beneficial effects of the invention are as follows:
the method has the advantages of being capable of reflecting the overall information of the tunneling tunnel, low in manpower resource consumption, capable of saving manpower cost, reducing potential safety hazard, real-time, non-contact, small in manpower requirement and the like.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a flow chart of the present invention.
Fig. 2 is a schematic diagram of the positional relationship between the heading machine and the lidar according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1, the invention provides a method for marking the outline of a coal mine underground tunneling roadway, which can be realized by the outline marking system of the coal mine underground tunneling roadway shown in fig. 2. The profile marking system comprises a heading machine 1, a laser radar 2 and a server. The laser radar 2 is fixed under the tunnel roof and performs three-dimensional laser scanning on an operation area in the direction of the heading machine 1. The lidar 2 and the server are directly or indirectly connected through a network, and the lidar 2 is sent to the server after scanning to the initial point cloud. The contour marking method of the underground tunneling roadway of the coal mine comprises the following steps:
s1, after tunneling operation of the tunneling machine is completed, when the tunneling machine body is stationary and support operation is started, the laser radar performs three-dimensional laser scanning on an operation area in the direction of the tunneling machine at a first position, and initial point clouds acquired at the time t and the time t+1 are obtained and sent to the server.
The scanning frequency of the laser radar can be set to be 10Hz, and the acquisition time intervals of the laser radar can be 0.5s, namely, the point cloud scanned by each acquisition time of the laser radar is laser point cloud acquired by 0.5 s.
Preferably, the lidar is a solid-state-like lidar.
S2, the server filters initial point clouds acquired at the time t and the time t+1, and adopts a RANSAC algorithm to extract tunneling roadway point clouds from the point clouds filtered at the time t and the time t+1 respectively.
Specifically, since the section of the tunneling roadway is rectangular, the embodiment of the invention adopts RANSAC (Random Sample)Consensu) algorithm, selecting a sample fitting model as a rectangle, fitting the filtered point clouds at the moment t and the moment t+1 respectively, extracting the point clouds meeting the rectangular characteristics as tunneling roadway point clouds, and storing the point clouds as tunneling roadway point cloudsAndfor further processing.
And S3, registering tunneling roadway point clouds corresponding to the t moment and the t+1 moment by the server, obtaining the pose change of the tunneling machine between the t moment and the t+1 moment, and establishing a first local point cloud map according to the pose change of the tunneling machine between the t moment and the t+1 moment.
And S4, moving the laser radar to a second position along with the forward movement of the heading machine, performing three-dimensional laser scanning on an operation area in the direction of the heading machine at the second position by the laser radar, and establishing a second local point cloud map by the server according to the scanning result of the laser radar.
And S5, the server splices the first local point cloud map and the second local point cloud map to obtain a global contour map of the tunneling roadway.
In a specific implementation, in the step S2, when the server filters the initial point cloud acquired at the time t, the method includes one or a combination of three modes (S21 to S23):
s21, for any laser point in the initial point cloud acquired at the moment t, the server judges whether any laser point is a view field edge point of the laser radar; and if so, filtering out any laser point.
Specifically, due to the irregular scanning characteristics of the laser radar, particularly the solid-state-like laser radar, the track curvature of the scanning points of the visual field edge of the laser radar is larger, and the subsequent feature extraction is influenced, so that the embodiment of the invention eliminates the visual field edge points when filtering.
In S21, when determining whether any laser point is a view edge point of the laser radar, the server includes:
s211, the server calculates the angle of any laser point through the following formula (1);
（1）
in the formula (1), i represents an initial point cloud acquired at the time tThe ith laser spot, phi i Represents the angle of the laser spot i, (x) i ，y i ，z i ) The coordinates of the laser spot i are indicated.
S212, if the angle of any laser point is larger than the preset field angle of the laser radar, determining that any laser point is a field edge point of the laser radar.
Taking solid-state-like lidar Mid-70 as an example, the preset field angle is 70.4 °, therefore, when φ i At 35.2 °, the laser point is referred to as the field edge point.
S22, the server eliminates the laser intensity I from the initial point cloud acquired at the moment t i At [ I ] min， I max ]Laser points outside the interval, wherein i represents initial point cloud acquired at time tI is the ith laser spot of (1) i The laser intensity of the laser spot i is shown.
Wherein I is min And I max As an empirical value, it may be determined according to the type of lidar.
By eliminating laser points with too large or too small laser intensity values from the initial point cloud, the influence on the ranging accuracy can be reduced, and therefore the algorithm accuracy can be improved.
S23, the server eliminates laser points with incidence angles smaller than a preset threshold value from the initial point cloud acquired at the moment t.
This approach is used to reject laser spots with small angles of incidence (near 0 °). The step S23, when embodied, includes:
s231, acquiring n nearest laser points of any laser point in the initial point cloud acquired at the time t. This step is implemented by a nearest neighbor algorithm.
S232, using a least square method to fit any laser point and the nearest n laser points into a plane, calculating a plane normal vector of the plane passing through the any laser point, calculating an included angle theta between the plane normal vector and a vector formed by connecting an origin and the any laser point, and eliminating the any laser point if the angle theta is less than or equal to 20.
It should be noted that, the manner of filtering the initial point cloud acquired at the time t+1 by the server is the same as the manner of filtering the initial point cloud acquired at the time t, which is not described in detail in the embodiment of the present invention.
In a specific embodiment, the step S3, when the server registers the tunneling roadway point clouds corresponding to the time t and the time t+1 to obtain the pose change of the tunneling machine between the time t and the time t+1, and establishes the first local point cloud map according to the pose change of the tunneling machine between the time t and the time t+1, the server may use an iterative closest point algorithm (ICP, iterative Closest Point)) to match the tunneling roadway point clouds corresponding to the time t and the tunneling roadway point clouds corresponding to the time t+1And) And (3) obtaining a rotation matrix R and a translation vector T of the tunneling machine between the moment T and the moment t+1, and projecting a tunneling roadway point cloud corresponding to the moment t+1 to the tunneling roadway point cloud corresponding to the moment T according to the rotation matrix R and the translation vector T of the tunneling machine, so as to obtain a first local point cloud map. The embodiments of the present invention will not be described in detail with respect to a specific implementation of point cloud matching by iterating a nearest point algorithm.
Further, in the step S4, as the heading machine moves forward, the laser radar is moved to the second position, the laser radar performs three-dimensional laser scanning on the working area in the direction of the heading machine at the second position, and the server establishes a specific implementation manner of the second local point cloud map according to the scanning result of the laser radar, which is the same as the manner of establishing the first local point cloud map, and also includes steps of filtering, extracting the point cloud of the heading roadway, matching the point cloud, and the like.
In a specific embodiment, in S5, when the server splices the first local point cloud map and the second local point cloud map to obtain the global contour map of the tunneling roadway, the server may splice the first local point cloud map and the second local point cloud map by using the roadway head-on position of the first local point cloud map and the second local point cloud map as the matched initial value, and obtain the global contour map of the tunneling roadway through an iterative closest point algorithm.
Specifically, when the lidar is moved to the second position, only the movement in the tunneling direction (the Y-axis direction in fig. 2) is involved, and the movement and the change of the posture in the other two directions (the X-axis and the Z-axis) are not involved, so that the embodiment of the present invention selects the initial rotation matrix R matched by the iterative closest point algorithm init Is a unit matrix. And when the laser radar moves to the second position, three-dimensional laser scanning is performed, and at the moment, the tunneling head-on is unchanged relative to the first position because the tunneling machine does not start tunneling. Therefore, the embodiment of the invention calculates the distance delta y between the second local point cloud map and the roadway head-on position of the first local point cloud map as the initial translation vector T init =[0，△y，0] T R is taken as init And T init And (3) carrying out an iterative process as an initial value matched by the iterative nearest point algorithm to obtain an optimal rotation matrix R and a translation vector T, and finally matching the first local point cloud map with the second local point cloud map according to R and T by taking the local point cloud map before movement as a target matching point cloud to obtain a global contour map of the tunneling roadway.
In summary, the invention provides the contour marking method capable of reflecting the global information of the tunneling tunnel, which has the advantages of less manpower resources, labor cost saving, potential safety hazard reduction, real-time performance, non-contact performance, small manpower requirement and the like by arranging the laser radar to perform three-dimensional laser scanning on the working area in the direction of the tunneling machine, generating the local point cloud map according to the scanning results of the laser radar at different positions (the first position and the second position), and then splicing the local point cloud map to obtain the global contour map of the tunneling tunnel.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and it should be noted that it is possible for those skilled in the art to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims (6)
1. The contour marking method for the underground tunneling roadway of the coal mine is characterized by comprising the following steps of:
s1, after tunneling operation of the tunneling machine is completed, when the tunneling machine body is stationary and support operation is started, performing three-dimensional laser scanning on an operation area in the direction of the tunneling machine by a laser radar at a first position, obtaining initial point clouds acquired at a time t and a time t+1, and sending the initial point clouds to a server; the laser radar is fixed right below the tunnel roof plate;
s2, the server filters initial point clouds acquired at the time t and the time t+1, and extracts tunneling roadway point clouds from the point clouds filtered at the time t and the time t+1 by adopting a RANSAC algorithm;
in S2, when the server filters the initial point cloud collected at the time t, the method includes:
s23, the server eliminates laser points with incidence angles smaller than a preset threshold value from an initial point cloud acquired at the moment t;
specifically, in S23, when the server rejects the laser point with the incident angle smaller than the preset threshold from the initial point cloud acquired at the time t, the method includes:
s231, for any laser point in an initial point cloud acquired at the moment t, acquiring n nearest laser points;
s232, using a least square method to fit any laser point and n nearest laser points into a plane, calculating a plane normal vector of the plane passing through the any laser point, calculating an included angle theta between the plane normal vector and a vector formed by connecting an origin and the any laser point, and eliminating any laser point if the angle theta is less than or equal to 20;
s3, registering tunneling roadway point clouds corresponding to the t moment and the t+1 moment by the server, obtaining the pose change of the tunneling machine between the t moment and the t+1 moment, and establishing a first local point cloud map according to the pose change of the tunneling machine between the t moment and the t+1 moment;
s4, moving the laser radar to a second position along with the forward movement of the heading machine, performing three-dimensional laser scanning on an operation area in the direction of the heading machine at the second position by the laser radar, and establishing a second local point cloud map by the server according to a scanning result of the laser radar;
s5, the server splices the first local point cloud map and the second local point cloud map to obtain a global contour map of the tunneling roadway;
in the step S5, when the server splices the first local point cloud map and the second local point cloud map to obtain the global contour map of the tunneling roadway, the method includes:
the server takes the roadway head-on position of the first local point cloud map and the second local point cloud map as a matched initial value, and splices the first local point cloud map and the second local point cloud map through an iterative nearest point algorithm to obtain a global contour map of the tunneling roadway.
2. The method for marking the outline of the underground tunneling roadway of the coal mine according to claim 1, wherein in S2, when the server filters the initial point cloud acquired at the time t, the method comprises the following steps:
s21, for any laser point in the initial point cloud acquired at the moment t, the server judges whether any laser point is a view field edge point of the laser radar; and if so, filtering out any laser point.
3. The method for marking the outline of the underground tunneling roadway of the coal mine according to claim 2, wherein in S21, the server judges whether any laser point is a view edge point of the laser radar, and includes:
s211, the server calculates the angle of any laser point through the following formula (1);
（1）
in the formula (1), i represents an initial point cloud acquired at the time tThe ith laser spot, phi i Represents the angle of the laser spot i, (x) i ，y i ，z i ) Representing the coordinates of the laser spot i;
s212, if the angle of any laser point is larger than the preset field angle of the laser radar, determining that any laser point is a field edge point of the laser radar.
4. The method for marking the outline of the underground tunneling roadway of the coal mine according to claim 1, wherein in S2, when the server filters the initial point cloud acquired at the time t, the method comprises the following steps:
s22, the server eliminates the laser intensity I from the initial point cloud acquired at the moment t i At [ I ] min， I max ]Laser points outside the interval, wherein i represents initial point cloud acquired at time tI is the ith laser spot of (1) i The laser intensity of the laser spot i is shown.
5. The method for marking the outline of the underground tunneling roadway of the coal mine according to claim 1, wherein the step S3 of registering the tunneling roadway point clouds corresponding to the time t and the time t+1 by the server to obtain the pose change of the tunneling machine between the time t and the time t+1, and establishing the first local point cloud map according to the pose change of the tunneling machine between the time t and the time t+1 comprises the following steps:
the server uses an iterative nearest point algorithm to match the tunneling roadway point cloud corresponding to the T moment and the tunneling roadway point cloud corresponding to the t+1 moment to obtain a rotation matrix R and a translation vector T of the tunneling machine between the T moment and the t+1 moment, and projects the tunneling roadway point cloud corresponding to the t+1 moment to the tunneling roadway point cloud corresponding to the T moment according to the rotation matrix R and the translation vector T of the tunneling machine to obtain a first local point cloud map.
6. The method for marking the outline of a coal mine underground tunneling roadway according to claim 1 and is characterized in that the laser radar is a solid-state-like laser radar.
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