Research on key technologies of 3D laser scanning modeling in fully mechanized working face
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摘要: 根据综采工作面三维激光扫描模型中煤壁与顶板交线信息，采煤机可自动调整滚筒截割高度，实现煤炭精准开采。现有技术实现了基于工作面激光点云的割煤顶板线自动提取，但提取结果不能直接应用于数字化自主割煤。针对该问题，提出了综采工作面三维激光扫描建模总体方案，并对煤壁与顶板交线提取、标靶球检测、点云拼接及坐标转换等关键技术进行了研究，实现了三维地质坐标系下煤壁与顶板交线信息的近实时获取，该信息可直接发送给采煤机滚筒，为采煤机下一刀截割提供数据参考。通过巡检机器人完成工作面扫描，获取巡检点云；基于煤壁与顶板交线的曲率特性，采用弦法向量法对煤壁与顶板交线进行粗提取；引入数据点法向量与邻域点法向量的夹角信息，通过阈值排除明显的非煤壁与顶板交线点。由于巡检点云与提取的交线信息均位于局部坐标系，通过定位标靶球检测和配准，完成机头点云、机尾点云与巡检点云的拼接，得到工作面联合点云。根据定位标靶球的三维地质坐标与局部坐标，得到坐标间的转换关系，通过坐标转换将联合点云转换到三维地质坐标系下，从而得到三维地质坐标系下的煤壁与顶板交线信息。井下工业性试验结果表明，采用综采工作面三维激光扫描技术提取煤壁与顶板交线的误差在10 cm以内，所有采样点中误差小于4 cm的采样点占比为50%，误差小于8 cm的采样点占比为96.67%。Abstract: According to the boundary information of the coal wall and roof in the 3D laser scanning model of fully mechanized working face, the shearer can automatically adjust the cutting height of the drum to realize the coal precise mining. The existing technology realizes the automatic extraction of the roof line of coal cutting based on the laser point cloud of the working face. But the extraction results cannot be directly applied to the digital automatic coal cutting. In order to solve this problem, the overall scheme of 3D laser scanning modeling for fully mechanized working face is proposed. The key technologies such as boundary extraction of coal wall and roof, target ball detection, point cloud registration and coordinate transformation are studied. The near real-time acquisition of boundary information of coal wall and roof under 3D geological coordinate system is realized. The information can be directly sent to the shearer drum to provide data reference for the next cutting of the shearer. The scanning of the working surface is realized through an inspection robot to obtain the inspection point cloud. Based on the curvature characteristics of the boundary of the coal wall and roof, the string and normal vector method is used to extract the boundary of the coal wall and roof roughly. The angle information between the normal vector of data points and the normal vector of adjacent points is introduced. The obvious intersection points of non coal wall and roof are eliminated through the threshold. As the inspection point cloud and the extracted boundary information are both located in a local coordinate system, the head and tail point clouds and the inspection point cloud are registered through the detection and registration of the positioning target ball. The working face combined point cloud is obtained. According to the 3D geological coordinate and the local coordinate of the positioning target ball, the transformation relation between the coordinates is obtained. The combined point cloud is transformed into the 3D geological coordinate system through coordinate transformation. Therefore, the boundary information of the coal wall and the roof under the 3D geological coordinate system is obtained. The underground industrial test results show that the error of the boundary between the coal wall and roof extracted by 3D laser scanning technology in fully mechanized working face is less than 10 cm. The sampling points with error less than 4 cm account for 50%. The sampling points with error less than 8 cm account for 96.67%.
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图 1 综采工作面三维激光扫描建模硬件部署
Figure 1. Hardware deployment of 3D laser scanning modeling in fully mechanized working face
图 2 综采工作面三维激光扫描建模软件流程
Figure 2. Software process of 3D laser scanning modeling in fully mechanized working face
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