综采工作面顶板与煤壁交线提取算法研究  

Research on Algorithm for Extracting Intersection Line between Roof and Coal Wall in Fully Mechanized Mining Face

作　　者：吴方朋 关士远 任伟 Wu Fangpeng;Guan Shiyuan;Ren Wei(Beijing Tianma Intelligent Control Technology Co.,Ltd.,Beijing 101399,China)

机构地区：[1]北京天玛智控科技股份有限公司,北京101399

出　　处：《煤矿机械》2024年第9期11-14,共4页Coal Mine Machinery

基　　金：北京天玛智控科技股份有限公司重点项目(2023-TM-023-C1)。

摘　　要：顶板与煤壁交线信息作为指导采煤机滚筒调高的重要依据,其提取速度与精度直接影响到采煤机自动截煤的效果。对综采工作面的顶板与煤壁交线提取算法进行了研究。通过将综采工作面的点云模型沿着工作面机头机尾方向进行分割,将整个工作面的点云模型分割成数个薄片;对每个小块进行数据处理,提取一个点作为当前位置的顶板线上的点;将每个点云段的顶板线线提取后,对这些点使用样条曲线进行数据拟合,这条拟合出的曲线可作为顶板与煤壁交线。通过该方法不仅可以快速提取顶板线,而且顶板线的平均误差小于9 cm,可以很好地指导采煤机滚筒自动调高。The intersection line information between the roof and coal wall is an important basis for guiding the height adjustment of the shearer drum,and its extraction speed and accuracy directly affect the automatic coal cutting effect of the shearer.Studied the algorithm for extracting the intersection line between the roof and coal wall of the fully mechanized mining face.By dividing the point cloud model of the fully mechanized mining face along the direction of the head and tail of the working face,the entire point cloud model of the working face is divided into several thin slices.Data processing is carried out for each small piece,and a point is extracted as the point on the current position of the roof line.After extracting the roof line of each point cloud segment,these points are fitted with spline.This fitted curve can serve as the intersection line between the roof and the coal wall.Through this method,not only the roof line can be quickly extracted,but the error of the roof line is less than 9 cm,which can effectively guide the automatic height adjustment of the shearer drum.

关 键 词：顶板线 点云 工作面 样条曲线 自动调高 

分 类 号：TD67[矿业工程—矿山机电] TD82