CN115824197A - Comprehensive excavator path intelligent planning method based on photogrammetry - Google Patents
Comprehensive excavator path intelligent planning method based on photogrammetry Download PDFInfo
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- CN115824197A CN115824197A CN202211201958.8A CN202211201958A CN115824197A CN 115824197 A CN115824197 A CN 115824197A CN 202211201958 A CN202211201958 A CN 202211201958A CN 115824197 A CN115824197 A CN 115824197A
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Abstract
The invention relates to the technical field of coal mine intellectualization, in particular to a comprehensive excavator path intelligent planning method based on photogrammetry, which inputs the initial three-dimensional coordinates of each image collector; acquiring the current coal rock image information of the head-on face by utilizing each image acquisition device; generating a three-dimensional digital model of the current head-on face by using an algorithm according to the initial data and the current coal and rock image information, and establishing a live-action three-dimensional model; according to the live-action three-dimensional model, identifying the coal wall information of the current head-on face, identifying coal rock images and fault information on the current coal wall, obtaining the coal rock information on the current coal wall, predicting the trend of the coal bed according to the obtained coal rock information on the current coal wall, and planning the circulating motion track of the comprehensive excavator; after completing the motion trail of one cycle, the comprehensive excavator is moved to carry out the next cycle. The scheme can plan the tunneling path of the fully-mechanized excavating machine, and greatly improves the tunneling efficiency and the safety of tunneling work.
Description
Technical Field
The invention relates to the technical field of coal mine intellectualization, in particular to a comprehensive excavator path intelligent planning method based on photogrammetry.
Background
Coal occupies an important position in the development of the human economic society for a long time, and a large number of fully-mechanized coal mining machines are put into fully-mechanized coal mining operation in order to further improve the supply of coal resources.
The fully-mechanized excavating machine is one of main devices of a comprehensive mechanical excavating working face, when a mining head of the fully-mechanized excavating machine cuts rocks, on one hand, the abrasion of the mining head of the fully-mechanized excavating machine is aggravated, the power consumption is increased, and even gas is detonated at high temperature generated by overlarge friction force of the mining head; on the other hand, the content of gangue in the mined coal is increased. The common method for solving the problems is to adjust the position of the roller of the fully-mechanized excavating machine in time through field operators, so that when workers come, the corresponding labor intensity is high, the danger is high, meanwhile, the fully-mechanized excavating speed is adjusted manually, and the corresponding fully-mechanized excavating efficiency is low.
Based on the above, an intelligent path planning method for the fully-mechanized excavating machine based on photogrammetry is needed, the tunneling path of the fully-mechanized excavating machine can be planned, and the tunneling efficiency and the tunneling work safety are greatly improved.
Disclosure of Invention
The invention aims to provide an intelligent path planning method of a fully-mechanized excavating machine based on photogrammetry, which can plan the tunneling path of the fully-mechanized excavating machine and greatly improve the tunneling efficiency and the tunneling safety.
In order to achieve the purpose, the invention adopts the following technical scheme: a comprehensive excavator path intelligent planning method based on photogrammetry comprises the following steps:
step one, building equipment, namely building a corresponding integrated excavator in front of a head-on face, wherein the integrated excavator is provided with a plurality of image collectors and is provided with an inertial navigation system; the inertial navigation system is used for calculating the three-dimensional coordinates of the collection positions of the image collectors after the image collectors move;
inputting initial data, namely inputting initial three-dimensional coordinates of the acquisition positions of the image collectors;
acquiring images, namely acquiring current coal rock image information of the current head-on face by utilizing each image acquisition device;
generating a three-dimensional digital model of the current head-on face by using an algorithm according to the initial data and the current coal and rock image information, and establishing a live-action three-dimensional model;
identifying the coal wall information of the current head-on face according to the live-action three-dimensional model, identifying coal rock images and fault information on the current coal wall, and obtaining coal rock information on the current coal wall, wherein the coal rock information comprises coal rock boundary coordinates, fault positions and coordinates, and fault distances;
predicting the trend of the coal bed according to the obtained coal rock information on the current coal wall, planning the circulating motion track of the comprehensive excavator, and limiting the cutting boundary of the comprehensive excavator according to the coordinates of the coal rock boundary of the upper boundary and the lower boundary of the coal bed;
and step seven, after a circular motion track is completed, moving the comprehensive excavator and executing the step one.
The principle and the advantages of the scheme are as follows: in the scheme, firstly, corresponding excavating equipment is installed, namely, the comprehensive excavating machine is installed in front of the head-on face, so that an image collector on the comprehensive excavating machine can collect images of the coal wall of the head-on face, initial data needs to be input before collection, initial three-dimensional coordinates corresponding to the collection position of the corresponding image collector are input, then the initial data is input, after the two steps are completed, a three-dimensional digital model of the current head-on face is constructed by utilizing an algorithm according to the initial three-dimensional coordinates and current coal rock image information, a corresponding real three-dimensional model is established, and the simulation of the specific situation of the coal wall of the current head-on face is completed in one step.
After the live-action three-dimensional model is obtained, the live-action three-dimensional model can be used for identifying the coal wall information of the current head-on face, coal rock images and fault information on the current coal wall are identified, coal rock information on the current coal wall can be obtained according to the information, such as coal rock boundary coordinates, fault positions and coordinates and fault distances, the coal rock information can be used for predicting the coal seam trend on the current head-on face, the path of the comprehensive excavator is planned according to the prediction result, and the cutting boundary of the comprehensive excavator is limited, so that the excavation path of the comprehensive excavator on the current head-on face is completed, the comprehensive excavator can be controlled to perform corresponding excavation according to the circular motion track, after a cycle is completed, the comprehensive excavator needs to be moved forward, the comprehensive excavator is enabled to be closer to the new head-on face, then the image collector is subjected to coordinate positioning and inputting again, and then the prediction of the next circular motion track is entered.
1. According to the scheme, the circulating motion path of the comprehensive excavator is predicted, namely the real-scene three-dimensional model of the current head-on face is utilized to identify the distribution condition of the coal rock at the coal wall on the current head-on face, the coal rock information identified in the mode is basically consistent with the real coal rock information on the current head-on face, so that the excavating path of the comprehensive excavator can be predicted and planned according to the coal rock information identified and processed, the excavating accuracy and the excavating efficiency of the comprehensive excavator are greatly improved, meanwhile, the excavating work of the comprehensive excavator can realize the maximum excavating without the need of adjusting the position of the comprehensive excavator by an operator in the excavating process, and the position of the comprehensive excavator only needs to be adjusted when the corresponding head-on face is pushed backwards, so that the excavating efficiency and the excavating accuracy of the comprehensive excavator are improved, and the safety of the operator using the comprehensive excavator is also improved.
Preferably, as an improvement, the initial data in the second step further includes calibration data, where the calibration data includes distortion parameters and internal orientation elements of the lens; the known parameters are focal length and image size: length and width, swing angle of the fully-mechanized excavating machine rocker arm and inclination angle of the machine body.
Has the advantages that: the input of the calibration data can make the data more complete and more accurate when the data is processed.
Preferably, as an improvement, the plurality of image collectors are arranged in multiple rows, and are not on the same horizontal plane.
Has the advantages that: the image collector sets up the multirow and not can realize on same horizontal plane that the image collector gathered can cover head-on, and the data of gathering like this will be better comprehensive, and excavation work later simultaneously also can be more comprehensive, avoids appearing the coal seam and neglects, causes the problem of gathering the incomplete.
Preferably, as an improvement, each image collector is arranged perpendicular to the coal wall of the current working face.
Has the advantages that: the image collector is vertically arranged in front of the coal wall, so that the vertical shooting of the coal wall of the current working face can be realized, the obtained image is an orthoimage, the image can be directly used when used, processing is not needed, and the image processing speed and efficiency are greatly improved.
Preferably, as an improvement, each image collector is arranged non-perpendicularly to the coal wall of the current working face; the system also comprises a posture collector which is used for detecting the inclination direction of each image collector.
Has the beneficial effects that: the image collector can not be perpendicular with the coal wall of working face and set up, but need detect image collector's incline direction when using this image, knows the shooting gesture that corresponds promptly, also can accomplish the use to the image through this, realizes using the image that image collector gathered through multiple way for whole device's suitability is wider, can be suitable for multiple scene.
Drawings
Fig. 1 is a flowchart of a comprehensive excavator path intelligent planning method based on photogrammetry in an embodiment of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
the embodiment is basically as shown in the attached figure 1: a comprehensive excavator path intelligent planning method based on photogrammetry comprises the following steps: step one, building equipment, namely building a corresponding integrated excavator in front of a head-on face, wherein the integrated excavator is provided with a plurality of image collectors and is provided with an inertial navigation system; the inertial navigation system is used for calculating the three-dimensional coordinates of the collection positions of the image collectors after the image collectors move; the plurality of image collectors are arranged in a plurality of rows and are not on the same horizontal plane.
Selecting parameters of an image collector, wherein the focal length is as small as possible, the left and right visual angles of the lens are as large as possible, and the upper and lower visual angles are as large as possible on the premise of ensuring a non-fisheye lens; more than three images are acquired with overlap. In the embodiment, the number of the image collectors is 5, the 5 image collectors are arranged in three rows in a 2-2-1 or 2-1-2 structure, 2 image collectors are arranged at the head of the fully-mechanized excavating machine side by side, the horizontal view angle is C, and the head-on face and part of the upper part are covered under the condition that the distance from the coal wall is D; 1 is placed in the middle; the other 2 are arranged in one row, and the 3 rows of image collectors are not on the same horizontal plane.
In the embodiment, the image collector is arranged at a position perpendicular to the coal wall of the working face, that is, the image collector is shot perpendicular to the coal wall, and in another embodiment, the image collector is not arranged perpendicular to the coal wall, but includes a posture collector for detecting the inclination direction of each image collector, that is, detecting the posture of the image collector.
Inputting initial data, namely inputting initial three-dimensional coordinates of the acquisition positions of the image acquirers; the initial data in the second step further comprises calibration data, and the calibration data comprises distortion parameters and internal orientation elements of the lens; the known parameters are focal length and image size: length and width, swing angle of the fully-mechanized excavating machine rocker arm and inclination angle of the machine body.
Acquiring images, namely acquiring current coal rock image information of the current head-on face by utilizing each image acquisition device;
step four, generating a three-dimensional digital model of the current head-on face by using an algorithm according to the initial data and the current coal rock image information, and establishing a live-action three-dimensional model; in the present embodiment, the algorithm used is an image space control algorithm based on photogrammetry.
Identifying the coal wall information of the current head-on face according to the live-action three-dimensional model, identifying coal rock images and fault information on the current coal wall, and obtaining coal rock information on the current coal wall, wherein the coal rock information comprises coal rock boundary coordinates, fault positions and coordinates, and fault distances; in this embodiment, when the coal rock information is compiled on the working face image, image recognition may be added if conditions allow (according to different texture features of the coal rock surface layer, harris corner point features are fused, the change of the coal texture in the coal seam direction is uniform, the corner point features are large in gray scale change due to the sliding in any direction, a large number of corner points exist at coal rock boundaries, the accuracy of coal rock recognition by a mine can reach centimeter level, optimization can be performed on the basis of the corner point features, a large number of useless corner points are separated, and the coal rock image and fault information are automatically recognized by using a corner point algorithm).
Predicting the trend of the coal bed according to the obtained coal rock information on the current coal wall, planning the circulating motion track of the comprehensive excavator, and limiting the cutting boundary of the comprehensive excavator according to the coordinates of the coal rock boundary of the upper boundary and the lower boundary of the coal bed; in the embodiment, if a fault is encountered, the track of the fully-mechanized excavating machine and the upper limit and the lower limit of the rocker arm are planned according to the inclination angle trend of the fault. In this embodiment, the trend of the coal seam is predicted according to the coal rock information, and the circular motion trajectory of the fully-mechanized excavating machine can be accurately and reasonably planned only after the trend of the coal seam is predicted.
And step seven, after a circular motion track is completed, moving the comprehensive excavator and executing the step one. In this embodiment, after a pile of the fully-mechanized roadheader, the corresponding inertial navigation system can accurately measure the three-dimensional coordinates of each image collector after movement, and simultaneously measure the swing angle of the rocker arm and the inclination angle of the machine body of the corresponding fully-mechanized roadheader.
The foregoing is merely an example of the present invention and common general knowledge in the art of designing and/or characterizing particular aspects and/or features is not described in any greater detail herein. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. A comprehensive excavator path intelligent planning method based on photogrammetry is characterized in that: step one, equipment is built, a corresponding comprehensive excavating machine is built in front of a head-on face, a plurality of image collectors are arranged on the comprehensive excavating machine, and an inertial navigation system is configured on the comprehensive excavating machine; the inertial navigation system is used for calculating the three-dimensional coordinates of the collection positions of the image collectors after the image collectors move;
inputting initial data, namely inputting initial three-dimensional coordinates of the acquisition positions of the image collectors;
acquiring images, namely acquiring current coal rock image information of the current head-on face by utilizing each image acquisition device;
generating a three-dimensional digital model of the current head-on face by using an algorithm according to the initial data and the current coal and rock image information, and establishing a live-action three-dimensional model;
identifying the coal wall information of the current head-on face according to the live-action three-dimensional model, identifying coal rock images and fault information on the current coal wall, and obtaining coal rock information on the current coal wall, wherein the coal rock information comprises coal rock boundary coordinates, fault positions and coordinates, and fault distances;
step six, predicting the trend of the coal bed according to the obtained coal rock information on the current coal wall, planning the circular motion track of the comprehensive digging machine, and limiting the cutting boundary of the comprehensive digging machine according to the coal rock boundary coordinates of the upper boundary and the lower boundary of the coal bed;
and step seven, after a circular motion track is completed, moving the comprehensive excavator and executing the step one.
2. The photogrammetry-based intelligent planning method for paths of integrated mining machines of claim 1, wherein: the initial data in the second step further comprises calibration data, and the calibration data comprises distortion parameters and internal orientation elements of the lens; the known parameters are focal length and image size: length and width, swing angle of the fully-mechanized excavating machine rocker arm and inclination angle of the machine body.
3. The photogrammetry-based integrated mining machine path intelligent planning method of claim 1, wherein: the plurality of image collectors are arranged in a plurality of rows and are not on the same horizontal plane.
4. The photogrammetry-based integrated mining machine path intelligent planning method of claim 3, wherein: and each image collector is arranged perpendicular to the coal wall of the current working face.
5. The photogrammetry-based intelligent planning method for paths of integrated mining machines of claim 3, wherein: each image collector is arranged in a way of being not vertical to the coal wall of the current working face; the system also comprises a posture collector which is used for detecting the inclination direction of each image collector.
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