Patent ID: 11971258
Assignee: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Field: Measurement (Instruments)
Classification: CPC G  E | IPC E  G

Claim 4:
5. The method for generating the three-dimensional navigation map of the fully mechanized mining face according to claim 3, wherein the step of generating the Delaunay triangular meshwork of the coal seam, faults/folds and roadways at the fully mechanized mining face to be mined comprise:
d1 first, sorting the data involved in network construction, including the data of the coal seam, faults/folds, and roadways scanned by the laser radar and roof data detected by the ground penetrating radar, in an ascending order and in a sequence of coordinate X, then coordinate Y and then coordinate Z, and then storing the sorted data in a point data linked list;
d2 creating a point data grid index according to the point data linked list, managing point data in blocks, and storing constraint edges in a linear linked list;
d3 sequentially retrieving the constraint edges as base edges from the linear linked list, applying a maximum included angle criterion to generate left triangle and right triangle as an initial triangular mesh, or generate a triangle if the constraint edges are boundaries, and storing the left triangle, the right triangle, or the triangle in the initial triangular mesh;
d4 using three edges of a layer of triangles newly generated in the step d3 as the base edges, and generating a new triangular meshwork with a one-step growth method: retrieving a base edge, finding out a third point that constitutes a triangle with a base line under a constraint circle criterion for constrained Delaunay triangulation, connecting two end points of the base line with a third point to form a new triangle, and storing the new triangle in the new triangular meshwork till an expansion edge of the new triangle is a boundary edge or has been used twice;
d5 repeating the step d4 till the triangles in a last layer cannot be expanded, and optimizing all triangular meshes except the initial triangular mesh with a Local Optimization Procedure (LOP) algorithm.