CN111489391B - Advanced hydraulic support positioning system and method based on laser point cloud - Google Patents
Advanced hydraulic support positioning system and method based on laser point cloud Download PDFInfo
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Abstract
The embodiment of the invention discloses a laser point cloud-based advanced hydraulic support positioning system and method, relates to the technical field of coal face monitoring and automation control, and can realize comprehensive monitoring of the position of an advanced hydraulic support in a working face advanced roadway and the position relation between the advanced hydraulic support and coal walls and equipment on two sides of the roadway. The method comprises the following steps: the device comprises a walking advanced hydraulic support, a three-dimensional laser scanner, an infrared camera and an advanced positioning controller, wherein the three-dimensional laser scanner and the infrared camera are respectively in communication connection with the advanced positioning controller; the advanced positioning controller is arranged on the end hydraulic support and used for receiving point cloud data acquired by the three-dimensional laser scanner and live-action image information acquired by the infrared camera, filtering the point cloud data based on the live-action image information, and determining the position of the current advanced hydraulic support according to the filtered point cloud data. The method is suitable for monitoring the working state of key equipment in the advanced roadway of the fully mechanized coal mining face and automatically controlling the key equipment.
Description
Technical Field
The invention relates to the technical field of coal face monitoring and automatic control, in particular to a leading hydraulic support positioning system and a leading hydraulic support positioning method based on laser point cloud.
Background
Under the influence of mining of a working face, various supporting pressures of an advanced roadway of a coal mine fully-mechanized mining working face are superposed, mine pressure is complex to show, and meanwhile, equipment in the section is densely arranged and is a pedestrian, ventilation and transportation throat. The hydraulic support is used as a key supporting device of the advanced roadway, is used for supporting the top plate of the advanced roadway, and is used for completing the production of the fully mechanized mining face by advancing in cooperation with the advance of the support of the working face, and the moving pose information of the hydraulic support in the advanced roadway becomes the key point of attention in the intelligent mining technology.
At present, intelligent coal mining becomes a development trend of a fully mechanized mining technology. For the advanced support equipment of the fully-mechanized mining surface, the related research of intelligent control is lacked at present, the development of the intelligent equipment of the fully-mechanized mining surface is seriously lagged behind, and the bottleneck of safe production and efficient propulsion of a working surface is formed. The existing advance hydraulic support mainly takes a group stepping forward movement pushing control structure form as a main part, the control process is complex, the attitude and the pushing direction of equipment are difficult to accurately control, and a top plate is repeatedly supported in the pushing process, so that the top plate of a roadway is loosened and broken, and the difficulty is brought to the safety maintenance of the roadway. In view of the above, the applicant group filed the invention patent of 'an all-directional walking hydraulic support' (201710027725.3), which solves the problems of the attitude and the top plate control of the hydraulic support ahead, and makes the automatic control of the hydraulic support ahead of the working face possible.
The advance hydraulic support propulsion control requires forward propulsion according to a designed roadway reference, a certain distance is kept between the advance hydraulic support and the two coal walls and equipment of the roadway in the propulsion process of the support, the support is prevented from being knocked over, and the advance hydraulic support is controlled primarily by determining the real-time position of the advance hydraulic support in the roadway. Existing underground roadway positioning technologies include ultra-wideband-based equipment positioning, inertial navigation-based equipment positioning, and the like. The positioning technology mainly aims at monitoring the self positioning information of the equipment, is difficult to monitor the position relation between the advanced hydraulic support and the two coal walls of the roadway and the equipment, and has influence on the accuracy of the advanced hydraulic support propulsion control.
In order to solve the problem of pose monitoring in the advancing process of the hydraulic support and realize intelligent propulsion control of the fully mechanized face advanced roadway, a system and a method for positioning the hydraulic support suitable for the working environment of the advanced roadway are provided.
Disclosure of Invention
In view of this, embodiments of the present invention provide a system and a method for positioning an advanced hydraulic support based on laser point cloud, which can achieve comprehensive monitoring of the position of the advanced hydraulic support in an advanced roadway of a working surface and the position relationship between the advanced hydraulic support and coal walls and equipment on two sides of the roadway, so as to improve accuracy of propulsion control of the advanced hydraulic support, and avoid collision of the advanced hydraulic support with the coal walls or the equipment on two sides of the roadway during a propulsion process, thereby achieving the purposes of unmanned intelligent operation and automatic and accurate walking of the advanced hydraulic support.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a leading hydraulic support positioning system based on a laser point cloud, including: the device comprises a walking advanced hydraulic support, a three-dimensional laser scanner, an infrared camera and an advanced positioning controller, wherein the three-dimensional laser scanner and the infrared camera are respectively in communication connection with the advanced positioning controller;
the walking advanced hydraulic supports are symmetrically arranged at two sides of an advanced roadway of the fully mechanized mining surface in pairs;
the three-dimensional laser scanner is installed below a top beam of a hydraulic support at the end of the fully mechanized mining face in a hanging mode and used for emitting laser into an advanced roadway, acquiring point cloud data of the advanced hydraulic support, two sides and other equipment in the advanced roadway and transmitting the point cloud data to the advanced positioning controller;
the infrared camera and the three-dimensional laser scanner are arranged below the top beam of the hydraulic support at the end of the fully mechanized mining face side by side and are used for acquiring real image information in an advanced roadway and transmitting the real image information to the advanced positioning controller;
the advanced positioning controller is arranged on the end hydraulic support and used for receiving point cloud data acquired by the three-dimensional laser scanner and live-action image information acquired by the infrared camera, filtering the point cloud data based on the live-action image information, and determining the position of the current advanced hydraulic support according to the filtered point cloud data.
Optionally, the positioning system comprises a positioning tag and a positioning base station, wherein the positioning tag is installed on the infrared camera and/or the three-dimensional laser scanner; the positioning base stations are arranged at two sides of the advanced roadway;
the positioning label is matched with the positioning base station to calibrate the positions of the three-dimensional laser scanner and the infrared camera.
Optionally, the travel lead hydraulic support is provided with a travel lead hydraulic support, and the infrared camera is specifically configured to acquire live-action image information of the travel lead hydraulic support, so that the lead positioning controller performs matching filtering on the point cloud data based on the live-action image information of the travel lead hydraulic support.
Optionally, the advance positioning controller is further configured to determine a distance between the walking advance hydraulic support and two sides of the coal wall of the roadway and other devices in the roadway according to the filtered point cloud data.
In a second aspect, a further embodiment of the present invention provides a method for positioning an advanced hydraulic support based on a laser point cloud, which is implemented based on any one of the systems in the first aspect, wherein a plurality of pairs of walking advanced hydraulic supports form an advanced hydraulic support working group;
the method comprises the following steps:
calibrating the positions of the three-dimensional laser scanner and the infrared camera during the forward movement process of the walking advanced hydraulic support in the advanced roadway, and sending calibrated position information to an advanced positioning controller;
the three-dimensional laser scanner collects point cloud data of a walking advanced hydraulic support, two sides and other equipment in an advanced roadway and sends the point cloud data to the advanced positioning controller;
the infrared camera acquires live-action image information in the advanced roadway and sends the live-action image information to the advanced positioning controller;
the advanced positioning controller establishes a conversion relation between point cloud data and an advanced roadway coordinate system based on the calibrated position information;
and filtering the point cloud data by using the live-action image information according to the conversion relation to obtain the point cloud data of the walking lead hydraulic support, and determining the position of the current walking lead hydraulic support according to the point cloud data obtained by filtering.
Optionally, the method further comprises: the advance positioning controller performs matching filtering on the point cloud data based on the live-action image information to obtain point cloud data of two sides of an advance roadway and other equipment in the advance roadway;
and determining the distance from the current walking advanced hydraulic support to the two sides of the advanced roadway and other equipment according to the filtered point cloud data of the two sides of the roadway, other equipment in the advanced roadway and the point cloud data of the walking advanced hydraulic support.
Optionally, the method further comprises: after the position of the current walking advanced hydraulic support and the distance between the current walking advanced hydraulic support and two sides of an advanced roadway and other equipment are determined, the advanced positioning controller controls the walking advanced hydraulic support to complete displacement forward based on the position and the distance.
Optionally, the calibrating the positions of the three-dimensional laser scanner and the infrared camera includes: calibrating the positions of the infrared camera and the three-dimensional laser scanner by matching the positioning base station with the positioning label;
the method for establishing the conversion relation between the point cloud data and the advanced roadway coordinate system by the advanced positioning controller based on the calibrated position information comprises the following steps: acquiring initial exterior orientation elements of live-action image information;
performing aerial triangulation adjustment calculation according to the initial exterior orientation element, and performing coordinate transformation on the position of the light-reflecting marker in the live-action image information data based on the position relation between the three-dimensional laser scanner and the infrared camera to obtain a live-action image collinearity equation model;
the step of filtering the point cloud data by using the live-action image information according to the conversion relation to obtain the point cloud data of the walking advanced hydraulic support, and the step of determining the position of the current walking advanced hydraulic support according to the point cloud data obtained by filtering comprises the following steps: filtering point cloud data acquired by the three-dimensional laser scanner according to the obtained real image collinear equation model to obtain point cloud data of key control points of the walking advanced hydraulic support; the key control point is the position of the reflective marker;
and calculating the position of the current walking advanced hydraulic support based on the obtained point cloud data of the key control point.
The embodiment of the invention discloses a leading hydraulic support positioning system and method based on laser point cloud, which comprises the following steps: the device comprises a walking advanced hydraulic support, a three-dimensional laser scanner, an infrared camera and an advanced positioning controller, wherein the three-dimensional laser scanner and the infrared camera are respectively in communication connection with the advanced positioning controller; the walking advanced hydraulic supports are symmetrically arranged at two sides of an advanced roadway of the fully mechanized mining surface in pairs; the three-dimensional laser scanner is installed below a top beam of a hydraulic support at the end of the fully mechanized mining face in a hanging mode and used for emitting laser into an advanced roadway, acquiring point cloud data of the advanced hydraulic support, two sides and other equipment in the advanced roadway and transmitting the point cloud data to the advanced positioning controller; the infrared camera and the three-dimensional laser scanner are arranged below the top beam of the hydraulic support at the end of the fully mechanized mining face side by side and are used for acquiring real image information in an advanced roadway and transmitting the real image information to the advanced positioning controller; the advanced positioning controller is arranged on the end hydraulic support and used for receiving point cloud data acquired by the three-dimensional laser scanner and live-action image information acquired by the infrared camera, filtering the point cloud data based on the live-action image information, and determining the position of the current advanced hydraulic support according to the filtered point cloud data. Further, the position relation between the advanced hydraulic support and the coal walls and equipment on two sides of the roadway in the advanced roadway of the working face can be determined based on the filtered point cloud data. The comprehensive monitoring of the position of the advance hydraulic support in the advance roadway of the working face and the position relation between the advance hydraulic support and the coal walls and equipment on the two sides of the roadway is realized, the accuracy of the advance hydraulic support propulsion control can be further improved, the coal walls or the equipment on the two sides of the roadway are prevented from being collided in the propulsion process, and therefore the purposes of unmanned intelligent operation and automatic and accurate walking of the advance hydraulic support are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a laser point cloud based advanced hydraulic mount positioning system of the present invention;
FIG. 2 is a schematic view of the shift forward control process of the all-directional traveling hydraulic support of the present invention;
FIG. 3 is a schematic view of the reflective marker of the present invention in a deployed position on a lead hydraulic mount;
FIG. 4 is a flow chart of a positioning method of the advanced hydraulic support positioning system based on laser point cloud.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
FIG. 1 is a schematic structural diagram of an embodiment of a laser point cloud based lead hydraulic support positioning system of the present invention; referring to fig. 1, the advanced hydraulic support positioning system based on laser point cloud provided by the embodiment of the invention can be applied to monitoring and automatic control of the working states of key equipment and two sides of a roadway in an advanced roadway of a fully mechanized coal mining face, wherein the key equipment comprises an advanced hydraulic support.
The system comprises: the walking advanced hydraulic support 1, three-dimensional laser scanner 2, infrared camera 3 and advance location controller 4, three-dimensional laser scanner 2 reaches infrared camera 3 respectively with advance location controller 4 communication connection.
Referring to fig. 1 and fig. 2, the walking forepoling hydraulic supports 1 are arranged in a forepoling roadway of a fully mechanized mining face, and are specifically symmetrically arranged on two sides of the forepoling roadway of the fully mechanized mining face in pairs; the walking advanced hydraulic support 1 is an all-dimensional walking advanced hydraulic support, the walking advanced hydraulic supports 1 are in multiple pairs, and the walking advanced hydraulic supports 1 form an advanced hydraulic support group, so that control actions such as translation, rotation, advancing and retreating can be realized. In the working face propelling process, the advancing hydraulic support at the end of the working face is controlled to shift forwards to the forefront of the advancing hydraulic support group based on the monitoring data, and compared with a propelling mode of a traditional stepping propelling type hydraulic support (firstly, the top plate is supported by the front frame, the rear frame is lowered to advance by a step distance and then is lifted to support the top plate, and the top plate is easily damaged by repeatedly supporting the top plate), the method can avoid repeatedly supporting the top plate.
The three-dimensional laser scanner 2 is arranged below a top beam of a hydraulic support at the end of the fully mechanized mining face in a hanging mode and used for emitting laser into the advanced roadway and scanning and acquiring three-dimensional point cloud data of an internal scene of the advanced roadway, particularly point cloud data of the advanced hydraulic support, two sides and other equipment in the advanced roadway; transmitting the point cloud data to an over-the-front positioning controller;
the infrared camera 3 and the three-dimensional laser scanner 2 are installed together, and specifically, the infrared camera 3 and the three-dimensional laser scanner 2 are installed side by side under the top beam of the hydraulic support at the end of the fully mechanized mining face and used for acquiring real image information in an advanced roadway and transmitting the real image information to the advanced positioning controller; and the live-action image information is used for assisting in matching and filtering the point cloud data.
The advance positioning controller 4 is installed on the end hydraulic support and is used for receiving point cloud data acquired by the three-dimensional laser scanner 2 and live-action image information acquired by the infrared camera 3, filtering the point cloud data based on the live-action image information, and determining the position of the current advance hydraulic support according to the filtered point cloud data.
It can be understood that the advance positioning controller 4 is further configured to determine a distance between the walking advance hydraulic support 1 and the two sides of the coal wall of the roadway and other devices in the roadway according to the filtered point cloud data. The advanced hydraulic support positioning system based on the laser point cloud not only solves the problem of autonomous positioning of the advanced hydraulic support in an advanced roadway, but also can determine the relative relation between the advanced hydraulic support and two coal walls and equipment of the roadway, realizes accurate positioning and monitoring of the advanced hydraulic support in the roadway, and can perform intelligent and accurate control on the advanced hydraulic pressure based on positioning and monitoring data.
Wherein the system further comprises: the positioning system comprises a positioning base station 5 and a positioning tag 6, wherein the positioning tag 6 is installed on the infrared camera 3 and/or the three-dimensional laser scanner 2 and is used for transmitting UWB (Ultra Wideband Ultra wide band) signals; and the positioning base station 5 is arranged at two sides of an advanced roadway and used for receiving the UWB signals and calculating the real-time position of the positioning tag 6 based on the UWB signals.
The positioning label is matched with the positioning base station to calibrate the positions of the three-dimensional laser scanner and the infrared camera.
Specifically, the positioning base station is in communication connection with the advance positioning controller 4, and the advance positioning controller 4 is further configured to calibrate the positions of the three-dimensional laser scanner 2 and the infrared camera 3 based on the real-time position of the positioning tag 6.
It is understood that the infrared camera 3 and the three-dimensional laser scanner 2 are mounted together, and the positions of the two devices can be determined by determining the position of the positioning tag 6 provided on any one of the two devices. Because the subsequent calculation of the coordinate point of the position of the advanced hydraulic support needs to be based on a fixed reference position point, in the embodiment, the position of the three-dimensional laser scanner 2 or the infrared camera 3 is the coordinate reference point, and the accuracy of calculating the position coordinate of the advanced hydraulic support can be improved by calibrating the coordinate reference point, so that the accuracy of positioning the advanced hydraulic support is improved, and the intelligence and the precision of control are further enhanced.
The positioning method adopted by the embodiment of the invention can be used for better positioning and calibrating the equipment in the narrow and long space of the underground roadway of the coal mine.
In some implementations, there are at least four positioning base stations, and the position of the positioning tag 6 can be calculated by triangulation.
Referring to fig. 3, the system further comprises: the walking forepoling hydraulic support comprises a walking forepoling hydraulic support 1, a reflection marker 7 and an infrared camera, wherein the reflection marker is arranged on the walking forepoling hydraulic support 1, and the infrared camera is specifically used for acquiring real image information of the reflection marker, so that the forepoling positioning controller performs matching filtering on the point cloud data based on the real image information of the reflection marker. Specifically, the reflective marker is a reflective marker adhered to a key position at the rear end of the advance hydraulic support and made of an infrared high-reflective material, so that the infrared camera 3 is ensured to acquire a live-action image of the key position at the rear end of the advance hydraulic support to obtain the key position of the advance hydraulic support.
The advanced hydraulic support positioning system based on the laser point cloud provided by the embodiment of the invention comprises: the device comprises a walking advanced hydraulic support 1, a three-dimensional laser scanner 2, an infrared camera 3 and an advanced positioning controller 4, wherein the three-dimensional laser scanner 2 is mounted below a top beam of a hydraulic support at the end of a fully mechanized mining surface in a hanging manner, laser is emitted into an advanced roadway, point cloud data of the advanced hydraulic support, two sides and other equipment in the advanced roadway are obtained, and the point cloud data are transmitted to the advanced positioning controller 4; the infrared camera 3 and the three-dimensional laser scanner 2 are arranged below the top beam of the hydraulic support at the end of the fully mechanized mining face side by side, real-scene image information in an advanced roadway is obtained, and the real-scene image information is transmitted to the advanced positioning controller 4; the advance positioning controller 4 receives point cloud data acquired by the three-dimensional laser scanner 2 and live-action image information acquired by the infrared camera 3, filters the point cloud data based on the live-action image information, and can determine the position of the current advance hydraulic support according to the filtered point cloud data. Further, the position relation between the advanced hydraulic support and the coal walls and equipment on two sides of the roadway in the advanced roadway of the working face can be determined based on the filtered point cloud data. The comprehensive monitoring of the position of the advance hydraulic support in the advance roadway of the working face and the position relation between the advance hydraulic support and the coal walls and equipment on the two sides of the roadway is realized, the accuracy of the advance hydraulic support propulsion control can be further improved, the coal walls or the equipment on the two sides of the roadway are prevented from being collided in the propulsion process, and therefore the purposes of unmanned intelligent operation and automatic and accurate walking of the advance hydraulic support are achieved.
In addition, the three-dimensional laser scanner 2 and the infrared camera 3 adopted by the positioning system provided by the embodiment of the invention have less influence on the collected images under the illumination condition, so that the positioning system can be better suitable for the actual mining engineering scene with dim light under a coal mine.
In still other embodiments, the system further comprises distance measuring radars 8 which are arranged on two sides of the base of the walking hydraulic support 1 and are used for detecting the distance from the hydraulic support to two sides of the roadway in real time when the advance positioning controller 4 controls the hydraulic support to move to the forefront end of the support group, namely during the advance of the advance hydraulic support during the displacement, so as to guide the hydraulic support to translate to the position with the preset distance near the two sides of the roadway and avoid the collision between the support and the two sides of the roadway.
In order to more clearly illustrate the embodiments of the present invention, a method for implementing positioning by a system according to some embodiments of the present invention is described as follows:
referring to fig. 4, in some application examples, a plurality of pairs of walking advanced hydraulic supports 1 are arranged in an advanced roadway to form an advanced hydraulic support working group, and the advanced hydraulic support working group jointly completes the top plate support of the advanced roadway; when the working face is pushed, the advanced hydraulic support is positioned and controlled.
The positioning method comprises the following steps:
step S10, calibrating the positions of the three-dimensional laser scanner 2 and the infrared camera 3 in the forward moving process of the walking advanced hydraulic support 1 in the advanced roadway, and sending the calibrated position information to an advanced positioning controller;
step S20, the three-dimensional laser scanner 2 collects point cloud data of the walking advanced hydraulic support 1, the two sides and other equipment in the advanced roadway and sends the point cloud data to the advanced positioning controller 4;
step S30, the infrared camera 3 acquires live-action image information in the advanced roadway and sends the live-action image information to the advanced positioning controller 4;
step S40, the advance positioning controller 4 establishes a conversion relation between the point cloud data and the advance roadway coordinate system based on the calibrated position information;
and step S50, filtering the point cloud data by using the live-action image information according to the conversion relation to obtain the point cloud data of the walking advanced hydraulic support 1, and determining the position of the current walking advanced hydraulic support 1 according to the point cloud data obtained by filtering.
Specifically, the method further comprises: the advanced positioning controller 4 performs matching filtering on the point cloud data based on the live-action image information to obtain point cloud data of two sides of the advanced roadway and other equipment in the advanced roadway;
and determining the distance from the current walking advanced hydraulic support 1 to the two sides of the advanced roadway and other equipment according to the filtered point cloud data of the two sides of the roadway, other equipment in the advanced roadway and the point cloud data of the walking advanced hydraulic support 1.
The positioning method provided by the embodiment of the invention can realize comprehensive monitoring of the position of the advance hydraulic support in the advance roadway of the working face and the position relation between the advance hydraulic support and the coal walls and equipment on two sides of the roadway, further can improve the accuracy of the advance hydraulic support propulsion control, and avoids collision with the coal walls or equipment on two sides of the roadway in the propulsion process, thereby realizing the purposes of unmanned intelligent operation and automatic and accurate walking of the advance hydraulic support.
In some application examples, the method further comprises: after the position of the current walking advanced hydraulic support 1 and the distance between the current walking advanced hydraulic support 1 and two sides of an advanced roadway and other equipment are determined, the advanced positioning controller 4 controls the walking advanced hydraulic support 1 to complete displacement forward movement based on the position and the distance.
In a further embodiment, the advancing positioning controller 4 controls the walking advancing hydraulic support 1 to complete the displacement advancing based on the position and the distance comprises: when the walking advanced hydraulic support 1 is controlled to move to the foremost end of the advanced hydraulic support group, the advanced hydraulic support is accurately controlled to translate to the positions near the two sides of the roadway based on the distance from the two sides of the advanced hydraulic support to the two sides of the roadway fed back by the ranging radar in real time, so that the support and the two sides of the roadway are prevented from colliding.
In some embodiments of the present invention, in step S10, the calibrating the positions of the three-dimensional laser scanner 2 and the infrared camera 3 includes: the positions of the infrared camera 3 and the three-dimensional laser scanner 2 are calibrated through the matching of the positioning base station and the positioning label 6;
in step S40, the establishing, by the advance positioning controller, a conversion relationship between the point cloud data and the advance roadway coordinate system based on the calibrated position information includes:
acquiring initial exterior orientation elements of live-action image information;
performing aerial triangulation adjustment calculation according to the initial exterior orientation element, and performing coordinate transformation on the position of the light-reflecting marker in the live-action image information data based on the position relation between the three-dimensional laser scanner 2 and the infrared camera 3 to obtain a live-action image collinear equation model;
in this embodiment, the point cloud data is based on an actual spatial coordinate system, and the live-action image information is based on a photographed image spatial coordinate system, and a Linear relationship between a pixel coordinate and an object space coordinate of a corresponding object point is established by using a Direct Linear Transformation (DLT) algorithm based on a position relationship between the three-dimensional laser scanner 2 and the infrared camera 3 through aerial triangulation adjustment calculation in this step, and coordinate Transformation is performed on a position where a reflective marker is located in the live-action image information data to obtain a live-action image collinearity equation model.
In step S50, the filtering the point cloud data according to the conversion relationship by using the live-action image information to obtain point cloud data of the walking lead hydraulic support 1, and determining the position of the current walking lead hydraulic support 1 according to the point cloud data obtained by filtering includes: filtering the point cloud data acquired by the three-dimensional laser scanner 2 according to the real image collinearity equation model acquired in the step S40 to acquire the point cloud data of the key control point of the walking advanced hydraulic support 1; the key control point is the position of the reflective marker; and calculating the position of the current walking advanced hydraulic support 1 based on the obtained point cloud data of the key control point.
It can be understood that the amount of the point cloud data is large, if the processing operation amount is large directly, and not all the data are needed, therefore, the coordinate of the key control point of the walking forepoling hydraulic support 1, namely the point cloud three-dimensional coordinate value (X, Y, Z) of the central point of the reflective marker, and the image plane coordinate (u, v) of the corresponding image point of the key control point in the image are obtained by matching and filtering the point cloud data based on the collinear equation model through the live-action image information of the key control point. Therefore, invalid data can be filtered, point cloud data of key control points are reserved, and the data processing speed can be greatly improved.
In addition, as the reflective markers are adhered to the key positions of the advanced hydraulic supports, the current pose of the advanced hydraulic supports and the relative distance between the advanced hydraulic supports and the two-side arrangement equipment of the advanced roadway can be quickly calculated back according to the point cloud coordinates of the reflective markers.
The advanced hydraulic support positioning system based on the laser point cloud provided by the embodiment of the invention not only solves the self-positioning problem of the advanced support in the advanced roadway, but also can determine the relative position relation between the advanced hydraulic support and two sides of coal walls and equipment of the roadway, realizes the positioning and control of the advanced hydraulic support in the roadway, and can improve the coal mining efficiency and safety. Furthermore, by utilizing the three-dimensional point cloud data and the infrared live-action image information for fusion processing, the calculation amount of the point cloud data is greatly reduced, the data processing speed is improved, the feedback efficiency of control information is further improved, and the real-time control requirement of the advanced hydraulic support is met. The device can be well applied to positioning and controlling the equipment in the long and narrow space of the underground coal mine roadway, and has important significance for high-efficiency and safety mining application of the coal mine. It should be noted that, in the present specification, all the embodiments are described in a related manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Moreover, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a look ahead hydraulic support positioning system based on laser point cloud which characterized in that includes: the device comprises a walking advanced hydraulic support, a three-dimensional laser scanner, an infrared camera and an advanced positioning controller, wherein the three-dimensional laser scanner and the infrared camera are respectively in communication connection with the advanced positioning controller;
the walking advanced hydraulic supports are symmetrically arranged on two sides of an advanced roadway of the fully mechanized face in pairs;
the three-dimensional laser scanner is installed below a top beam of a hydraulic support at the end of the fully mechanized mining face in a hanging mode and used for emitting laser into an advanced roadway, acquiring point cloud data of the advanced hydraulic support, two sides and other equipment in the advanced roadway and transmitting the point cloud data to the advanced positioning controller;
the infrared camera and the three-dimensional laser scanner are arranged below the top beam of the hydraulic support at the end of the fully mechanized mining face side by side and are used for acquiring real image information in an advanced roadway and transmitting the real image information to the advanced positioning controller;
the advanced positioning controller is arranged on the end hydraulic support and used for receiving point cloud data acquired by the three-dimensional laser scanner and live-action image information acquired by the infrared camera, filtering the point cloud data based on the live-action image information, and determining the position of the current advanced hydraulic support according to the filtered point cloud data.
2. The laser point cloud based advanced hydraulic mount positioning system of claim 1, further comprising: the positioning tag is installed on the infrared camera and/or the three-dimensional laser scanner; the positioning base stations are arranged at two sides of the advanced roadway,
the positioning label is matched with the positioning base station to calibrate the positions of the three-dimensional laser scanner and the infrared camera.
3. The laser point cloud based advanced hydraulic mount positioning system of claim 2, further comprising: the infrared camera is specifically used for acquiring the live-action image information of the reflective marker, so that the advance positioning controller performs matching filtering on the point cloud data based on the live-action image information of the reflective marker.
4. The laser point cloud based hydraulic advance support positioning system of claim 1, wherein the advance positioning controller is further configured to determine a distance between the walking hydraulic advance support and the two sides of the coal wall of the roadway and other equipment in the roadway according to the filtered point cloud data.
5. A laser point cloud-based hydraulic support advance positioning method is characterized in that a plurality of pairs of walking hydraulic supports advance are arranged in an advance roadway to form an advance hydraulic support working group based on the implementation of the laser point cloud-based hydraulic support advance positioning system of any one of claims 1 to 4;
the method comprises the following steps:
calibrating the positions of the three-dimensional laser scanner and the infrared camera during the forward movement process of the walking advanced hydraulic support in the advanced roadway, and sending calibrated position information to an advanced positioning controller;
the three-dimensional laser scanner collects point cloud data of a walking advanced hydraulic support, two sides and other equipment in an advanced roadway and sends the point cloud data to the advanced positioning controller;
the infrared camera acquires live-action image information in the advanced roadway and sends the live-action image information to the advanced positioning controller;
the advanced positioning controller establishes a conversion relation between point cloud data and an advanced roadway coordinate system based on the calibrated position information;
and filtering the point cloud data by using the live-action image information according to the conversion relation to obtain the point cloud data of the walking advanced hydraulic support, and determining the position of the current walking advanced hydraulic support according to the point cloud data obtained by filtering.
6. The laser point cloud based look-ahead hydraulic mount positioning method of claim 5, further comprising: the advanced positioning controller performs matching filtering on the point cloud data based on the live-action image information to obtain point cloud data of two sides of the advanced roadway and other equipment in the advanced roadway;
and determining the distance from the current walking advanced hydraulic support to the two sides of the advanced roadway and other equipment according to the filtered point cloud data of the two sides of the roadway, other equipment in the advanced roadway and the point cloud data of the walking advanced hydraulic support.
7. The laser point cloud based look-ahead hydraulic mount positioning method of claim 6, further comprising: after the position of the current walking advanced hydraulic support and the distance between the current walking advanced hydraulic support and two sides of an advanced roadway and other equipment are determined, the advanced positioning controller controls the walking advanced hydraulic support to complete displacement forward based on the position and the distance.
8. The advanced hydraulic support positioning method based on laser point cloud of claim 5, further comprising: the positioning tag is installed on the infrared camera and/or the three-dimensional laser scanner; the positioning base stations are arranged at two sides of the advanced roadway,
the positioning tag is matched with the positioning base station and used for calibrating the positions of the three-dimensional laser scanner and the infrared camera;
the infrared camera is specifically used for acquiring the live-action image information of the reflective marker, so that the advance positioning controller performs matching filtering on the point cloud data based on the live-action image information of the reflective marker;
the calibrating the positions of the three-dimensional laser scanner and the infrared camera comprises the following steps: calibrating the positions of the infrared camera and the three-dimensional laser scanner by matching the positioning base station with the positioning label;
the method for establishing the conversion relation between the point cloud data and the advanced roadway coordinate system by the advanced positioning controller based on the calibrated position information comprises the following steps: acquiring initial exterior orientation elements of live-action image information;
performing aerial triangulation adjustment calculation according to the initial exterior orientation element, and performing coordinate transformation on the position of the light-reflecting marker in the live-action image information data based on the position relation between the three-dimensional laser scanner and the infrared camera to obtain a live-action image collinearity equation model;
the step of filtering the point cloud data by using the live-action image information according to the conversion relation to obtain the point cloud data of the walking advanced hydraulic support, and the step of determining the position of the current walking advanced hydraulic support according to the point cloud data obtained by filtering comprises the following steps: filtering point cloud data acquired by the three-dimensional laser scanner according to the obtained real image collinear equation model to obtain point cloud data of key control points of the walking advanced hydraulic support; the key control point is the position of the reflective marker;
and calculating the position of the current walking advanced hydraulic support based on the obtained point cloud data of the key control point.
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