[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 great significance in promoting the intelligent mining of coal mines.
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