Generation of Downhole Navigation Trajectory Based on Point Cloud Skeleton Line
YU Heng
SUN Zhigang
XIAO Li
Abstract：Downhole self-guided navigation is a key part of the intelligence of coal mining. Due to the complex downhole envi?ronment,the ordinary navigation trajectory generation method is not suitable for the generation of downhole navigation trajectory. This paper proposes a method for generating downhole navigation trajectory based on the point cloud Skeleton line and validates it through experiments. This method is aimed at the complex features of the downhole environment. Firstly,plane extraction is per?formed on the downhole point cloud scene. Then,the extracted Skeleton line is extracted from the extracted plane based on the medi?an theory. The experimental results show that the method can provide the navigation trajectory for the system in a poor environment.
Keywords：intelligent miningplane extractionmedian theorypoint cloud skeleton linenavigation track
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 3004-3009 )