Intelligent path planning method for roadheader based on photogrammetry

The invention relates to the technical field of coal mine intellectualization, in particular to an intelligent path planning method for a roadheader based on photogrammetry, and the method comprises the steps: inputting the initial three-dimensional coordinates of each image collector; collecting current coal rock image information of the head-on face by using each image collector; according to the initial data and the current coal rock image information, generating a three-dimensional digital model of a current head-on surface by using an algorithm, and establishing a real scene three-dimensional model; identifying the coal wall information of the current head-on face according to the live-action three-dimensional model, identifying a coal rock image and fault information on the current coal wall, obtaining the coal rock information on the current coal wall, predicting the trend of the coal seam according to the obtained coal rock information on the current coal wall, and planning the circulating motion trac