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1. WO2020228189 - GENERATION SYSTEM AND METHOD FOR HIGH-PRECISION THREE-DIMENSIONAL NAVIGATION MAP OF FULLY MECHANIZED MINING SURFACE

Publication Number WO/2020/228189
Publication Date 19.11.2020
International Application No. PCT/CN2019/104100
International Filing Date 03.09.2019
IPC
G01C 21/32 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
G01C 21/16 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
E21F 13/08 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINAGE IN OR OF MINES OR TUNNELS
13Transport specially adapted to underground conditions
08Shifting conveyors or other transport devices from one location at the working face to another
CPC
G01C 21/005
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
005with correlation of navigation data from several sources, e.g. map or contour matching
G01C 21/165
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
165combined with non-inertial navigation instruments
G01S 17/08
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02Systems using the reflection of electromagnetic waves other than radio waves
06Systems determining position data of a target
08for measuring distance only
G01V 1/30
GPHYSICS
01MEASURING; TESTING
VGEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS
1Seismology; Seismic or acoustic prospecting or detecting
28Processing seismic data, e.g. analysis, for interpretation, for correction
30Analysis
G06T 17/05
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17Three dimensional [3D] modelling, e.g. data description of 3D objects
05Geographic models
G06T 17/20
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17Three dimensional [3D] modelling, e.g. data description of 3D objects
20Finite element generation, e.g. wire-frame surface description, ; tesselation
Applicants
  • 中国矿业大学 CHINA UNIVERSITY OF MINING AND TECHNOLOGY [CN]/[CN]
Inventors
  • 刘万里 LIU, Wanli
  • 葛世荣 GE, Shirong
  • 王世博 WANG, Shibo
  • 伊世学 YI, Shixue
Agents
  • 南京正联知识产权代理有限公司 NANJING ZHENGLIAN INTELLECTUAL PROPERTY AGENCY CO., LTD.
Priority Data
201910397230.914.05.2019CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) GENERATION SYSTEM AND METHOD FOR HIGH-PRECISION THREE-DIMENSIONAL NAVIGATION MAP OF FULLY MECHANIZED MINING SURFACE
(FR) SYSTÈME ET PROCÉDÉ DE GÉNÉRATION POUR CARTE DE NAVIGATION TRIDIMENSIONNELLE DE HAUTE PRÉCISION DE SURFACE D'EXPLOITATION MINIÈRE ENTIÈREMENT MÉCANISÉE
(ZH) 一种综采工作面高精度三维导航地图的生成系统及方法
Abstract
(EN)
A generation system and method for a high-precision three-dimensional navigation map of a fully mechanized mining surface, applicable to use in the technical field of unmanned mining. The generation system comprises a channel wave seismometer, a laser radar, a combined navigation device, a ground penetrating radar, and a data processing unit; the data processing unit acquires data collected by sensors; perform coordinate conversion, feature fusion and consistency processing on the collected data to generate a Delaunay triangle network of a coal seam, a fault/fold, and a roadway; draw a high-precision profile map of the triangle map, calculate a topological relation of the profile map, generate a topological data structure of the profile map, establish a navigation information automatic query database platform based on the high-precision profile map, and construct the high-precision three-dimensional navigation map of the fully mechanized mining surface. The high-precision three-dimensional navigation map generated by the present invention can provide accurate thickness information of the coal seam, a varied dip angle of the coal seam and a position of a dangerous geological structure space to fully mechanized mining equipment, and has functions such as high-precision positioning, information sensing, and path planning.
(FR)
L'invention concerne un système et un procédé de génération pour une carte de navigation tridimensionnelle de haute précision d'une surface d'exploitation minière entièrement mécanisée applicables à une utilisation dans le domaine technique de l'exploitation minière sans équipage. Le système de génération comprend un sismomètre d'ondes de canaux, un radar laser, un dispositif de navigation combiné, un géoradar et une unité de traitement de données ; l'unité de traitement de données acquiert des données collectées par des capteurs ; la réalisation d’une conversion de coordonnées, la réalisation d’une fusion de caractéristiques et d’un traitement de cohérence sur les données collectées afin de générer un réseau de triangulation de Delaunay d'une veine de charbon, d'une faille/d'un pli, et d'une galerie ; le traçage d’une carte profile de haute précision de la carte de triangulation, le calcul d’une relation topologique de la carte profile, la génération d’une structure de données topologiques de la carte profile, l’établissement d’une plate-forme de base de données d'interrogation automatique d'informations de navigation sur la base de la carte profile de haute précision, et la construction de la carte de navigation tridimensionnelle de haute précision de la surface d'exploitation minière entièrement mécanisée. La carte de navigation tridimensionnelle de haute précision générée par la présente invention peut fournir des informations d'épaisseur précises de la veine de charbon, une inclinaison variée de la veine de charbon et une position d'un espace de structure géologique dangereux pour un équipement d'exploitation minière entièrement mécanisé, et a des fonctions telles qu'un positionnement de précision élevée, une détection d'informations et une planification de trajet.
(ZH)
一种综采工作面高精度三维导航地图的生成系统及方法,适用于无人化开采技术领域使用。生成系统包括槽波地震仪、激光雷达、组合导航装置、探地雷达和数据处理单元:数据处理单元获取各个传感器采集的数据;对采集数据进行坐标转换、特征融合和一致性处理,生成煤层、断层/褶皱、巷道的Delaunay三角网;绘制三角网的高精度剖面图,计算剖面图拓扑关系,生成剖面图拓扑数据结构,建立基于高精度剖面图的导航信息自动查询数据库平台,构建出综采工作面高精度三维导航地图。本发明生成的高精度三维导航地图可为综采装备提供准确的煤层厚度信息、煤层变化倾角和危险地质构造空间位置,起到高精度定位、信息感知、路径规划等功能。
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