煤矿巷道空间毫米波雷达测量特性与重建方法  

Spatial surveying characteristics and reconstruction method of millimetre wave radar in complex environment of coal mine roadway

作　　者：薛旭升[1,2] 杨星云 岳佳宁 王川伟[1,2] 毛清华[1,2] 马宏伟[1,2] 王荣泉 XUE Xusheng;YANG Xingyun;YUE Jianing;WANG Chuanwei;MAO Qinghua;MA Hongwei;WANG Rongquan(College of Mechanical and Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control,Xi’an University of Science and Technology,Xi’an 710054,China;Xi’an Heavy Industry Hancheng Coal Mining Machinery Co.,Ltd.,Hancheng 715400,China)

机构地区：[1]西安科技大学机械工程学院,陕西西安710054 [2]西安科技大学陕西省矿山机电装备智能检测与控制重点实验室,陕西西安710054 [3]西安重装韩城煤矿机械有限公司,陕西韩城715400

出　　处：《煤田地质与勘探》2024年第10期186-194,共9页Coal Geology & Exploration

基　　金：国家自然科学基金面上项目(52374161,52174150,52174149);国家重点研发计划项目(2022YFF0605300,2023YFC2907603);陕西省教育厅服务地方专项−产业化培育项目(23JC048);西安市科技计划项目−高校院所科技人员服务企业项目(22GXFW 0067);陕西省“两链”融合企业(院所)项目(2023-LL-QY-03)。

摘　　要：【目的】煤矿井下空间测量是煤矿透明地质建模的重要组成,然而煤矿巷道环境复杂、信息获取不全、感知数据精度不足等难题亟待解决。【方法】首先,深入研究粉尘、水雾、围岩结构等复杂环境因素下毫米波雷达信号特性,建立煤矿巷道围岩毫米波信号衰减模型,对比分析复杂环境因素毫米波雷达的影响机理。其次,针对煤矿复杂环境下毫米波雷达的巷道数字建模问题,提出巷道空间毫米波雷达点云泊松表面重建方法。通过实验测试与模拟巷道环境验证,在揭示煤矿复杂环境条件下的毫米波雷达感知机理基础上,实现了煤矿巷道空间测量与数字建模重构。【结果和结论】结果表明:(1)毫米波雷达能够适应煤矿井下多粉尘、多水雾、围岩粗糙的巷道环境,为煤矿巷道空间重建提供有效数据。(2)泊松表面重建方法能够充分展示真实巷道围岩信息,重建巷道整体宽度的平均绝对误差百分比为0.59%,巷道整体高度的平均绝对误差百分比为0.78%。煤矿复杂环境下毫米波雷达空间测量特性与重建方法的研究,为煤矿井下透明地质建模提供巷道空间测量数据,对推动煤矿智能开采具有重要意义。[Objective]Underground spatial surveying of coal mine is an important part of transparent geological model-ling for coal mine.However,the complex environment of coal mine roadway,incomplete information acquisition,insuf-ficient accuracy of sensed data and other difficulties need to be urgently solved.[Methods]First,the signal characterist-ics of millimeter wave radar under the complex environmental factors such as dust,water mist,surrounding rock struc-ture,etc.were studied in depth,the millimeter wave signal attenuation model was established for the surrounding rock of coal mine roadway,and the influence mechanism of complex environmental factors for millimeter wave radar was com-paratively analyzed.Second,in view of the problem of millimeter wave radar based digital roadway modelling in the complex environment of coal mine,the Poisson surface reconstruction method based on millimeter wave radar point cloud for the roadway space was proposed.Through experimental tests and simulated roadway environment verification,the spatial surveying and digital modelling reconstruction of the coal mine roadway was achieved on the basis of reveal-ing the millimetre-wave radar sensing mechanism under the complex environmental conditions of the coal mine.[Res-ults and Conclusions]The results show that:(1)The millimetre-wave radar could adapt to the underground coal mine roadway environment with a lot of dust,water mist and rough surrounding rock,and provide effective data for the spa-tial reconstruction of the coal mine roadway.(2)The Poisson surface reconstruction method could fully display the real information on surrounding rock of roadway,and the average absolute error percentage is 0.59%for the reconstructed total roadway width,and 0.78%for the total roadway height.Generally,the study of millimeter-wave radar spatial sur-veying characteristics and reconstruction methods in the complex environment of coal mines provides the spatial survey-ing data of roadway for transparent geological modelling of coal mines,which is of grea

关 键 词：毫米波雷达 复杂环境 巷道建模 空间测量 煤矿 

分 类 号：TD263[矿业工程—矿井建设]