综采工作面刮板输送机煤流轮廓点云的配准方法研究
打开文本图片集
中图分类号：TN249-34；TP391.9 文献标识码：A 文章编号：1004-373X（2025）16-0081-07
Research on registration method of coal flow profile point cloud of scraper conveyor in synthesized miningface
ANGWeibing'，LIKaifang'，ZHAOShuanfeng'，WANGYuan’，LUZhengxiong1，LILai¹，GUO Shut （1.SchoolofMechanical Engineering，Xi'an UniversityofScienceand Technology，Xi’an71Oo54，China; 2.OrdosResearch InstituteofEnergy，PekingUniversity，Ordos O17ooo，China）
Abstract：Antrational iterativeclosest-point （ICP）alignmentalgorithmisimprovedfortheproblemsthatthecoal flow contourpointcloudofthescraperconveyorinthesynthesizedminingfacehasmanynoisepoints，thecomplexityof thecontour structure，andtheexisting pointcloudalignmentlgorithmcanotbeadaptedtothefastandhigh-precisionalignmentof thecoal flowpointcloud.Theprincipalcomponentanalysismethodisusedtoperforminitialaxialalignmentforthepointcloudtobe registered，thescale-invariantfeaturetransforalgoritmisusedtoextractthefeaturepointsofthepointcoudtobergistered， andthefastpointfeaturehistogramisconstructedtoensurethatthetwopointcloudprincipalaxeswillnotbereversed，which canimprove theeficiencyofthecoarsealignmentalgorithm.Thecorresponding pointpairsaresearchedby meansof random samplingconsistentinitialregistrationalgoritandtheinitialrigidbodytransformationmatrixisalculated，whichisusedto realizethepreliminaryregistrationofthetwo-pointcloudandprovideagoodinitialpositionforthesubsequentfineregistration. Onthe basisof abovecoarsealigment，theK-Dtreedata structureisutilizedtoaccelerate thecorespondence point finding processandtheminimum distance frompointtosurface methodisused toimprove theaccuracyof thecorespondence relationship.Wrong pairsof corrspondencepointsareeliminated iterativelybymeansof therandomsampling consistency algorithmtoenhancetheaccuracyof thealignment.Therigid-bodytransformationmatrixiscalculatedacordingtotheprecise correspondingpointpairs，soas torealizethefineregistrationofthecoalflowpointclouddata.Theexperimentalresultsshow that，incomparisonwithotherpointcloudalignmentmethods，theproposedalignmentalgorithmcanimprovethematching accuracyandmatchingeficiencyofthecoalflowprofilepointcloudofthescraperconveyor，whichisof greatsignificancefor
thevolumetric calculation of the coal flowprofilepoint cloud.
Keywords：scraper conveyor;pointcloudofcoalflow profile;pointcloud alignment;principalcomponentanalysis;scaleinvariant feature transform;randomsamplingconsistentalgorithm
0 引言
据预测，在我国达到“碳峰值"之前，煤炭作为“压舱石"的定位将保持不变[-2]。（剩余8647字）