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

Claim 2:
3. A method for generating the three-dimensional navigation map of the fully mechanized mining face using the system for generating the three-dimensional navigation map of the fully mechanized mining face according to claim 1, comprising the following steps:
a. moving the vehicle-mounted mobile measurement platform (1) at a constant speed of about 40 km/h in the upper roadway, a left cross roadway, the glower roadway and a right cross roadway around the coal seam to be mined;
b. moving the data receiving processor (2) to a location near the wireless transmitter along with the vehicle-mounted mobile measurement platform (1) to acquire geological data of the coal seam to be mined collected by the in-seam seismographs by means of wireless signals, the geological data includes thickness information of the coal seam to be mined, varying inclination angle of the coal seam and spatial locations of hazardous geological structures;
emitting a laser beam from the laser radar (3) to a surface of roadway roof continuously, and calculating a distance between the surface of the roadway roof and the laser radar according to a return time difference of a received reflected laser beam to form three-dimensional point cloud data of the roadway roof; transmitting the three-dimensional point cloud data from the laser radar (3) to the data receiving processor (2) through a network cable;
calculating position, attitude and movement trajectory information of the vehicle-mounted mobile measurement platform (1) with the inertial navigation device (4) according to rotational angular velocity and acceleration vector of the vehicle-mounted mobile measurement platform (1) relative to an inertial system, and then transmitting the position, attitude and movement trajectory information to the data receiving processor (2) through the network cable;
emitting electromagnetic wave signals from the ground penetrating radar (5) to the coal seam at the roadway roof via an emitter unit, and calculating thickness data of remaining coal in upper and lower roadway roofs of the fully mechanized mining face with a receiver unit by detecting a propagation time of the electromagnetic wave signals in the coal seam, and transmitting the thickness data to the data receiving processor (2) through network cable;
c. carrying out coordinate transformation, feature fusion and consistency processing on the data collected by the vehicle-mounted mobile measurement platform (1) and the in-seam seismographs;
d. processing the data collected by the vehicle-mounted mobile measurement platform (1) and the in-seam seismographs by using the data receiving processor (2), and generating a Delaunay triangular meshwork of the coal seam, faults/folds and roadways at the fully mechanized mining face to be mined respectively;
e. utilizing the Delaunay triangular meshwork of the coal seam, faults/folds and roadways generated in the step d to plot a profile map of the Delaunay triangular meshwork, calculating topological relationship of the profile map, and generating a topological data structure of the profile map;
f. establishing an automatic querying database of navigation information of the fully mechanized mining face to be mined, including querying for thickness of the coal seam, inclination angle of the coal seam, spatial locations of faults/folds and spatial locations of roadways, and generating the three-dimensional navigation map of the fully mechanized mining face, according to the data collected by the vehicle-mounted mobile measurement platform (1), the in-seam seismographs, the Delaunay triangular meshwork and the profile map of the coal seam, faults/folds and roadways at the fully mechanized mining face.