CN102410834A - Dynamic monitoring system device for tailing dam body by three-dimensional laser scanning - Google Patents

Abstract

The invention discloses a dynamic monitoring system device for a tailing dam body by three-dimensional laser scanning. The dynamic monitoring system device mainly comprises a mechanical unit, a laser data acquisition unit, a control driving and feedback unit, and a communication and upper computer unit. In the device, the laser data acquisition unit is used for acquiring scene polar radius information of the surface of the tailing dam body; the control driving and feedback unit is used for driving the laser data acquisition unit to rotate in the horizontal dimension and vertical dimension, to scan the large scene on the surface of the tailing dam body at a constant speed and to acquire angle information in the horizontal dimension and the vertical dimension in real time; the communication and upper computer unit is used for transmitting the acquired distance information and the acquired angle information to an upper computer through a high-speed data acquisition card; and software of the upper computer is used for processing the scene polar radius and the rotation angle information in the horizontal dimension and the vertical dimension to recover a real three-dimensional image of the scene, building a tailing dam body standard point cloud model in an ideal state, and storing the model into a database as an intelligent monitoring comparison template. During dynamic scanning of the device, qualitative and quantitative estimation for unexpected disasters is realized by using a dynamic monitoring algorithm through comparison with the template; operators and managers can immediately start corresponding emergency plans to avoid further expansion of the disasters.

Description

3 D laser scanning mine tailing dam body dynamic monitoring system device

Technical field

The present invention relates to noncontact measurement, relate to the dynamic on-line monitoring system device of noncontact of 3 D laser scanning mine tailing dam body particularly.

Background technology

In national security production " 12 " development plan third-class and above mine tailing storehouse time limit all being installed in the line monitoring system device has proposed to explicitly call for.3 D laser scanning mine tailing dam body dynamic monitoring system device is as the typical model machine of mine tailing dam body online monitoring system, and the adaptation epoch are about the needs of safety stable development, to protecting country and the people's lives and property safety significant.

In mine tailing storehouse safe operation monitoring, formed the monitor and early warning system of functions such as comprising on-site real-time data acquisition, data information analysis-by-synthesis and safety alarm abroad.And the monitoring of domestic mine tailing dam body mainly comprises methods such as manual measurement, fiber-optic monitoring and total powerstation monitoring; Manual pick is measured to the scene with traditional instrument; Be subject to the influence of environment and field condition, and acquisition precision is not high, information delay, also has personnel's personal safety problem simultaneously; The utilization fiber-optic monitoring is installed complicated, disturbs construction, and cost is high, be inappropriate for telemeasurement, and error is bigger; The utilization total powerstation need be measured in a plurality of positions, and sampled point is sparse and time-consuming.Mine tailing dam body monitoring at present begins to turn to the digital supervision of the means that turn to robotization, networking and information management intelligence; Press for a kind of high precision, low cost and high efficiency 3 D laser scanning mine tailing dam body dynamic monitoring system device, satisfy country about requirement of safe production.

Summary of the invention

The technical matters of solution of the present invention: the deficiency that overcomes existing on-line monitoring technique; The dynamic on-Line Monitor Device of noncontact of one cover 3 D laser scanning mine tailing dam body is provided, realizes the online periodic monitor of noncontact, single sweep operation speed is fast; Measuring accuracy is high, and cost is low; The present invention has solved country effectively about requirement of safe production, and device is applicable to the mine tailing dam body monitoring of different scenes.

Technical scheme of the present invention: 3 D laser scanning mine tailing dam body dynamic monitoring system device is characterized in that comprising: machine assembly, laser data collecting unit, controlling and driving with feedback unit, communicate by letter and the host computer unit, wherein

Machine assembly is used to connect laser data collecting unit and horizontal direction motor and vertical direction motor, realizes the level and the vertical direction scanning of laser data collecting unit; Horizontal direction rotary transformer and horizontal direction motor the fixing of motor and horizontal direction rotary transformer coupling arrangement in the horizontal direction are synchronized with the movement down, and vertical direction rotary transformer and vertical direction motor are synchronized with the movement under the fixing of vertical direction motor and vertical direction rotary transformer coupling arrangement.

The laser data collecting unit can obtain culture point scene polar radius information in real time, under the drive of motor and vertical direction motor, to the panoramic scanning of mine tailing dam body, the data message that obtains is passed to host computer through high-speed data acquisition card in the horizontal direction.

Controlling and driving and feedback unit; Horizontal direction driver and vertical direction driver be controlling level direction motor and vertical direction motor respectively; Drive the laser data collecting unit and realize the uniform speed scanning of level and vertical dimension; Obtain the angle information of each scanning position in real time through horizontal direction rotary transformer and vertical direction rotary transformer; Pass to horizontal direction driver and vertical direction driver respectively under the integration of rotary transformer-digital quantizer and vertical direction rotary transformer-digital quantizer in the horizontal direction, pass to host computer through high-speed data acquisition card.

Communication and host computer unit, the angle information that the scene polar radius information that high-speed data acquisition card obtains the laser data collecting unit, horizontal direction rotary transformer and vertical direction rotary transformer obtain is sent to host computer in real time.Host computer carries out system and corrects obtaining data, and the data normalization of each coordinate system under the frame of reference of 3 D laser scanning mine tailing dam body dynamic monitoring system device, and is shown the result with the form of three-dimensional point cloud; To the three-dimensional coordinate utilization intellectual monitoring algorithm of each monumented point, judge whether it is consistent with the result of java standard library; If inconsistent, then start corresponding emergency preplan.

Described laser data collecting unit is the single-point laser sensor; Be not less than 300m at natural surface down-sampling range; SF is not less than 2000, and measuring accuracy is not less than 60mm, has the laser sensor based on the pulse-echo time difference method of RS-232/422/485 interface.Higher SF can reduce single laser sweep time, and the measuring accuracy of laser sensor is high more, and the scanning accuracy of 3 D laser scanning mine tailing dam body dynamic monitoring system device is just high more, and more near the true 3-D view of scene, and control interface is simple.

Described horizontal direction motor is that power is not less than 172.8W, maximum non-load speed 630r/min, and peak value stall moment of torsion is not less than 2.2N.m; Electric current is not less than 3.6A, and quality is less than 1.5Kg, and torque motor uses under stall or low speed situation usually; It is big to have stalling torque, and no-load speed is low, can directly drive load without any need for reduction gear; Overload capacity is strong, controls the size of output torque and rotating speed through adjustable side voltage, characteristics such as volume is less.

Described vertical direction motor is that power is not less than 211.2w, maximum non-load speed 460r/min, and peak value stall moment of torsion is not less than 4.4N.m; Electric current is not less than 4.4A, and quality is less than 2.4Kg, and torque motor uses under stall or low speed situation usually; It is big to have stalling torque, and no-load speed is low, can directly drive load without any need for reduction gear; Overload capacity is strong, controls the size of output torque and rotating speed through adjustable side voltage, characteristics such as volume is less.

Described horizontal direction rotary transformer is that conversion ratio is 0.5 ± 5% to the maximum, maximum electrical error is ± 10 ', being applicable to-55～+ 155 ℃ environment, quality is output as the angular transducer of sine and cosine simulating signal less than 0.065Kg.Be applicable to environment such as high temperature, severe cold, humidity, high vibration, for high precision monitor, be widely used and lay the first stone.

Described vertical direction rotary transformer is that conversion ratio is 0.5 ± 5% to the maximum, maximum electrical error is ± 10 ', being applicable to-55～+ 155 ℃ environment, quality is output as the angular transducer of sine and cosine simulating signal less than 0.065Kg.Be applicable to environment such as high temperature, severe cold, humidity, high vibration, for high precision monitor, be widely used and lay the first stone.

Described horizontal direction rotary transformer-digital quantizer is that resolution is not less than 14; Umber of pulse is not less than 16384; The sine and cosine analog signal conversion that the horizontal direction rotary transformer is obtained is A, B, Z phase pulse signal, can be used for the angle demoder of-40～+ 85 ℃ of environment.This output signal is simple, and sampling resolution is high, can realize the accurate control to the horizontal direction motor.

Described vertical direction rotary transformer-digital quantizer is that resolution is not less than 14; Umber of pulse is not less than 16384; The sine and cosine analog signal conversion that the vertical direction rotary transformer is obtained is A, B, Z phase pulse signal, can be used for the angle demoder of-40～+ 85 ℃ of environment.This output signal is simple, and sampling resolution is high, can realize the accurate control to the vertical direction motor.

Described horizontal direction driver is in rated voltage+80V, rated current 8A, and the input angle signal is A, B, Z phase pulse signal, has the DC motor driver of R232 interface.Realization is to the closed-loop control of horizontal direction torque motor, and the horizontal direction angle information that will obtain in real time is transferred to host computer, for the realization of high precision monitor lays the first stone.

Described vertical direction driver is in rated voltage+80V, rated current 8A, and the input angle signal is A, B, Z phase pulse signal, has the DC motor driver of R232 interface.Realization is to the closed-loop control of vertical direction torque motor, and the vertical direction angle information that will obtain in real time is transferred to host computer, for the realization of high precision monitor lays the first stone.

Described high-speed data acquisition card is that supply voltage is at 12～48V; Be output as RJ45 type network interface card interface, support 10,000,000 and 100,000,000 adaptive network connection speeds; At least the data transmission device that has four RS-232/422/485 interfaces, at a high speed accurately data transmission lay the first stone.

Host computer in said communication and the host computer unit is for have network interface at least, and Installed System Memory is supported the industrial computer of WindowsXP operating system greater than 2GB, has higher reliability.

Control Software implementation procedure in said communication and the host computer unit is following:

1) laser data collecting unit and controlling and driving and feedback unit initialization: after system powers on; Horizontal direction motor and vertical direction motor move to 3 D laser scanning mine tailing dam body dynamic monitoring system device reference position according to the setting of horizontal direction driver and vertical direction driver respectively, high-speed data acquisition card self-starting success;

2) communication and the initialization of host computer unit: the serial ports correlation parameter of laser data collecting unit is set, connects the laser data collecting unit, the transmission frequency of laser pulse is set; The functional parameter of controlling and driving and feedback unit is set: control string slogan, sweep limit, sweep velocity, according to the requirement of engineering the scanning times and the trace interval time on the same day are set regularly, the location parameter of each scanning flag point is set;

3) start the on-line monitoring button, laser data collecting unit and controlling and driving and feedback unit pass to host computer with the angle information of the scene polar radius information, level and the vertical direction that obtain through high-speed data acquisition card in real time and do further processing;

4) resolved data;

The data message utilization coordinate normalizing algorithm process of host computer to gathering is about to laser data collecting unit coordinate system, horizontal direction rotary transformer coordinate system and vertical direction rotary transformer coordinate system normalizing under the frame of reference of 3 D laser scanning mine tailing dam body dynamic monitoring system device.Detailed process is as shown in Figure 2, and setting up laser data collecting unit origin is O _L-X _LY _LZ _L, the frame of reference O of system _B-X _BY _BZ _BAnd three transition coordinate system O _M-X _MY _MZ _M, O _H-X _HY _HZ _HAnd O _V-X _VY _VZ _V, and each coordinate system is Descartes's right-handed coordinate system.According to the relevant transformational relation of coordinate system, calculate the scene space point at 3 D laser scanning mine tailing dam body dynamic monitoring system device frame of reference O _B-X _BY _BZ _BUnder the three-dimensional coordinate general formula:

$\left\{\begin{array}{c}{x}_B=(r+\mathrm{\Δ}{x}^{\′})\cos \mathrm{\α}\cos \mathrm{\β}+\sin \mathrm{\α\Δz}+\cos \mathrm{\α\Δx}\\ y_B=(r+\mathrm{\Δ}{x}^{\′})\sin \mathrm{\β}\\ z_B=-(r+\mathrm{\Δ}{x}^{\′})\sin \mathrm{\α}\cos \mathrm{\β}+\cos \mathrm{\α\Δz}-\sin \mathrm{\α\Δx}\end{array}\right.$

Wherein,

α, β are respectively the information of obtaining of vertical direction rotary transformer (14) and horizontal direction rotary transformer (8);

R is a scene polar radius information;

Δ x, Δ z, Δ x ' are respectively the off-set value of the relevant coordinate axis in edge between coordinate system; After the entire system assembling is accomplished; Δ x, Δ z are fixed value, can calculate through the Machine Design size to draw, and Δ x ' is that laser data collecting unit (2) is measured the off-set value between initial point and the feathering axis;

The above-mentioned data of crossing through coordinate normalizing algorithm process are simplified, are shown in real time after the noise reduction process, with scanning result with the form real-time storage of three-dimensional coordinate in Excel, and the three-dimensional coordinate of each monumented point is stored among the Excel; Wherein, Sweep parameter is in response to the difference with the far and near different of zone; When the first use of device; Sweep parameter is precisely set, be stored in the stored data base of host computer, and deposit the accurate model of measuring in three dimensional point cloud storehouse and the three-dimensional coordinate information of monumented point in the intelligent comparison template database;

5) whether Calculation of Three Dimensional point cloud model and monumented point three-dimensional information be consistent with the result of java standard library, if inconsistent, then starts corresponding emergency preplan;

6) judge whether the tailing dam swept-volume finishes: if the end of scan, device stops this task, according to the setting of 3 D laser scanning mine tailing dam body dynamic monitoring system device about timing scan, starts the 3rd step of entering once more, proceeds monitoring.

The present invention's advantage compared with prior art is:

1) apparatus of the present invention use upper computer software to the unified control in each unit; Adopt the laser data collecting unit to mine tailing dam body real time scan, upper computer software is handled with the result and is shown, is non-contact detecting; Therefore easy to detect; Automaticity is high, can work long hours, less than the phenomenon that causes because of personnel's fatigue makeing mistakes;

2) apparatus of the present invention realize the online periodic monitor of noncontact, and single sweep operation speed is fast, and measuring accuracy is high, and cost is low;

3) apparatus of the present invention have solved country effectively about requirement of safe production, and device is applicable to the mine tailing dam body monitoring of different scenes.

Description of drawings

Fig. 1 is the system construction drawing of 3 D laser scanning mine tailing dam body dynamic monitoring system device of the present invention;

Fig. 2 is the system calibrating coordinate system of 3 D laser scanning mine tailing dam body dynamic monitoring system device of the present invention;

Fig. 3 is the workflow diagram of 3 D laser scanning mine tailing dam body dynamic monitoring system device of the present invention;

Fig. 4 is actual mine tailing dam body scene outside drawing;

Fig. 5 is the three-dimensional point cloud illustraton of model of the present invention after handling, and wherein grey color dot is represented each monumented point.

Wherein, Fig. 1,1, machine assembly; 2, laser data collecting unit; 3, controlling and driving and feedback unit; 4, communication and host computer unit; 5, laser stationary installation; 6, horizontal direction motor; 7, laser and horizontal direction Motor connecting device; 8, horizontal direction rotary transformer; 9, horizontal direction motor and horizontal direction rotary transformer coupling arrangement; 10, horizontal direction rotary transformer-digital quantizer; 11, horizontal direction driver; 12, vertical direction motor; 13, horizontal direction motor and vertical direction Motor connecting device; 14, vertical direction rotary transformer; 15, vertical direction motor and vertical direction rotary transformer coupling arrangement; 16, vertical direction rotary transformer-digital quantizer; 17, vertical direction driver; 18, high-speed data acquisition card; 19, host computer.

Embodiment

As shown in Figure 1,3 D laser scanning mine tailing dam body dynamic monitoring system device of the present invention comprises: machine assembly 1, laser data collecting unit 2, controlling and driving with feedback unit 3, communicate by letter and host computer unit 4, wherein

Machine assembly 1 is used to connect laser data collecting unit 2 and horizontal direction motor 6 and vertical direction motor 12, realizes the level and the vertical direction scanning of laser data collecting unit 2; Horizontal direction rotary transformer 8 and horizontal direction motor 6 motor in the horizontal direction are synchronized with the movement down with the fixing of horizontal direction rotary transformer coupling arrangement 9, and vertical direction rotary transformer 14 and vertical direction motor 12 are synchronized with the movement under the fixing of vertical direction motor and vertical direction rotary transformer coupling arrangement 15.

Laser data collecting unit 2; Can obtain culture point scene polar radius information in real time; Under the drive of motor 6 and vertical direction motor 12,, the data message that obtains is passed to host computer 19 through high-speed data acquisition card 18 in the horizontal direction to the panoramic scanning of mine tailing dam body;

Controlling and driving and feedback unit 3; Horizontal direction driver 11 and vertical direction driver 17 difference controlling level direction motors 6 and vertical direction motor 12; Drive the uniform speed scanning of laser data collecting unit 2 realization levels and vertical dimension; Obtain the angle information of each scanning position in real time through horizontal direction rotary transformer 8 and vertical direction rotary transformer 14; Pass to horizontal direction driver 11 and vertical direction driver 17 respectively under the integration of rotary transformer-digital quantizer 10 and vertical direction rotary transformer-digital quantizer 16 in the horizontal direction, pass to host computer 19 through high-speed data acquisition card 18.

Communication and host computer unit 4, the angle information that the scene polar radius information that high-speed data acquisition card 18 obtains laser data collecting unit 2, horizontal direction rotary transformer 8 and vertical direction rotary transformer 14 obtain is sent to host computer 19 in real time.19 pairs of host computers obtain data to carry out system and corrects, and the data normalization of each coordinate system under the frame of reference of 3 D laser scanning mine tailing dam body dynamic monitoring system device, and is shown the result with the form of three-dimensional point cloud; To the three-dimensional coordinate utilization intellectual monitoring algorithm of each monumented point, judge whether it is consistent with the result of java standard library; If inconsistent, then start corresponding emergency preplan.

Each unit associated components is assembled, connect power supply and signal wire, at first carry out the exploitation of whole device critical component.For connecting host computer 19 and high-speed data acquisition card 18 install drivers; Under system's page of high-speed data acquisition card 18; According to laser data collecting unit 2, horizontal direction motor driver 11 and vertical direction motor driver 17 separately the requirement of port be provided with, set up the data channel of host computer 19 and each sensor effectively.According to the instruction of laser data collecting unit 2 bottom control, laser data collecting unit 2 to be developed, the mode that upper computer software sends the corresponding command word with serial ports control realizes parameter setting and Data Receiving to laser data collecting unit 2.Parameter according to horizontal direction motor 6, horizontal direction rotary transformer 8, vertical direction motor 12 and vertical direction rotary transformer 14 is provided with horizontal direction driver and vertical direction driver; Regulate its pid parameter respectively; Horizontal direction motor 6 and vertical direction motor 12 are operated stably; Corresponding program is set, and the conversion through some pose when powering on returns to 3 D laser scanning dynamic monitoring system device reference position with vertical direction motor 12 to make horizontal direction motor 6.

As shown in Figure 3, the workflow of apparatus of the present invention is specific as follows:

1) confirms that parts power supply, signal line correctly connect; Device powers on; Controlling and driving and feedback unit (3) drive laser data collecting unit 2 and move to 3 D laser scanning mine tailing dam body dynamic monitoring system device reference position, wait for the instruction of communication and host computer unit 4;

2) communication and 4 initialization of host computer unit: the serial ports correlation parameter of laser data collecting unit 2 is set, connects laser data collecting unit 2, the transmission frequency of laser pulse is set; The functional parameter of controlling and driving and feedback unit 3 is set: control string slogan, sweep limit, sweep velocity, according to the requirement of engineering the scanning times and the trace interval on the same day are set regularly, the location parameter of each scanning flag point is set;

3) start the on-line monitoring button, laser data collecting unit 2 and controlling and driving and feedback unit 3 pass to host computer 19 with data message through high-speed data acquisition card 18 in real time and do further processing;

4) resolved data;

In observation process; The data message utilization coordinate normalizing algorithm process of upper computer software to gathering is about to laser data collecting unit 2 coordinate systems, horizontal direction rotary transformer 8 coordinate systems and vertical direction rotary transformer 14 coordinate system normalizings under the frame of reference of 3 D laser scanning mine tailing dam body dynamic monitoring system device.After the entire system assembling is accomplished; Vertically rotating shaft center's line with horizontally rotate shaft centre line and be positioned at same plane; Draw Δ x=0, Δ z=113.5mm, the offset value delta x '=74.5mm between laser data collecting unit 2 photocentres and the feathering axis through the reckoning of Machine Design size.Substitution scene space point is at 3 D laser scanning mine tailing dam body dynamic monitoring system device frame of reference O _B-X _BY _BZ _BUnder the three-dimensional coordinate general formula get:

$\left\{\begin{array}{c}{x}_B=(r+0.0745)\cos \mathrm{\α}\cos \mathrm{\β}+0.1135\sin \mathrm{\α}\\ y_B=(r+0.0745)\sin \mathrm{\β}\\ z_B=-(r+0.0745)\sin \mathrm{\α}\cos \mathrm{\β}+0.01135\cos \mathrm{\α}\end{array}\right.$

Wherein,

α, β are respectively the information of obtaining of vertical direction rotary transformer (14) and horizontal direction rotary transformer (8);

R is a scene polar radius information;

The above-mentioned data of crossing through coordinate normalizing algorithm process are simplified, are shown in real time after the noise reduction process, with scanning result with the form real-time storage of three-dimensional coordinate in Excel, and the three-dimensional coordinate of each monumented point is stored among the Excel; Wherein, Sweep parameter is in response to the difference with the far and near different of zone; When the first use of device; Sweep parameter is precisely set, be stored in the stored data base of host computer 19, and deposit the accurate model of measuring in three dimensional point cloud storehouse and the three-dimensional coordinate information of monumented point in the intelligent comparison template database.

5) whether Calculation of Three Dimensional point cloud model and monumented point three-dimensional information be consistent with the result of java standard library, if inconsistent, then starts corresponding emergency preplan;

6) judge whether the tailing dam swept-volume finishes;

If the end of scan, device stops this task, according to the setting of upper computer software about timing scan, starts the 3rd step of entering once more, proceeds monitoring.

Claims (13)

1. 3 D laser scanning mine tailing dam body dynamic monitoring system device is characterized in that comprising: machine assembly (1), laser data collecting unit (2), controlling and driving with feedback unit (3), communicate by letter and host computer unit (4), wherein:

Machine assembly (1) is used to connect laser data collecting unit (2) and horizontal direction motor (6) and vertical direction motor (12), realizes the level and the vertical direction scanning of laser data collecting unit (2); Horizontal direction rotary transformer (8) and horizontal direction motor (6) are synchronized with the movement under motor and horizontal direction rotary transformer coupling arrangement (9) fixing in the horizontal direction, and vertical direction rotary transformer (14) and vertical direction motor (12) are synchronized with the movement under the fixing of vertical direction motor and vertical direction rotary transformer coupling arrangement (15);

Laser data collecting unit (2); Can obtain culture point scene polar radius information in real time; Under the drive of motor (6) and vertical direction motor (12),, the data message that obtains is passed to host computer (19) through high-speed data acquisition card (18) in the horizontal direction to the panoramic scanning of mine tailing dam body;

Controlling and driving and feedback unit (3); Horizontal direction driver (11) and vertical direction driver (17) be controlling level direction motor (6) and vertical direction motor (12) respectively; Drive the uniform speed scanning of laser data collecting unit (2) realization level and vertical dimension; Obtain the angle information of each scanning position in real time through horizontal direction rotary transformer (8) and vertical direction rotary transformer (14); Pass to horizontal direction driver (11) and vertical direction driver (17) respectively under the integration of rotary transformer-digital quantizer (10) and vertical direction rotary transformer-digital quantizer (16) in the horizontal direction, pass to host computer (19) through high-speed data acquisition card (18);

Communication and host computer unit (4); The angle information that the scene polar radius information that high-speed data acquisition card (18) obtains laser data collecting unit (2), horizontal direction rotary transformer (8) and vertical direction rotary transformer (14) obtain is sent to host computer (19) in real time; Host computer (19) carries out system's rectification to obtaining data; The data utilization coordinate normalizing algorithm of each coordinate system is transformed under the frame of reference of 3 D laser scanning mine tailing dam body dynamic monitoring system device, and the result is shown with the form of three-dimensional point cloud; To the three-dimensional coordinate utilization intellectual monitoring algorithm of each monumented point, judge whether it is consistent with the result of java standard library; If inconsistent, then start corresponding emergency preplan.

2. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described laser data collecting unit (2) is the single-point laser sensor; This single-point laser sensor is to be not less than 300m at natural surface down-sampling range; SF is not less than 2000, and measuring accuracy is not less than 60mm, has the laser sensor based on the pulse-echo time difference method of RS-232/422/485 interface.

3. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described horizontal direction motor (6) is not less than 172.8W for power; Maximum non-load speed 630r/min; Peak value stall moment of torsion is not less than 2.2N.m, and electric current is not less than 3.6A, and quality is less than the torque motor of 1.5Kg.

4. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described vertical direction motor (12) is not less than 211.2W for power; Maximum non-load speed 460r/min; Peak value stall moment of torsion is not less than 4.4N.m, and electric current is not less than 4.4A, and quality is less than the torque motor of 2.4Kg.

5. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described horizontal direction rotary transformer (8) is 0.5 ± 5% to the maximum for conversion ratio; Maximum electrical error is ± 10 '; Be applicable to-55～+ 155 ℃ environment, quality is output as the angular transducer of sine and cosine simulating signal less than 0.065Kg.

6. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described vertical direction rotary transformer (14) is 0.5 ± 5% to the maximum for conversion ratio; Maximum electrical error is ± 10 '; Be applicable to-55～+ 155 ℃ environment, quality is output as the angular transducer of sine and cosine simulating signal less than 0.065Kg.

7. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described horizontal direction rotary transformer-digital quantizer (10) is not less than 14 for resolution; Umber of pulse is not less than 16384; The sine and cosine analog signal conversion that horizontal direction rotary transformer (8) is obtained is A, B, Z phase pulse signal, can be used for the angle demoder of-40～+ 85 ℃ of environment.

8. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described vertical direction rotary transformer-digital quantizer (16) is not less than 14 for resolution; Umber of pulse is not less than 16384; The sine and cosine analog signal conversion that vertical direction rotary transformer (14) is obtained is A, B, Z phase pulse signal, can be used for the angle demoder of-40～+ 85 ℃ of environment.

9. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described horizontal direction driver (11) is in rated voltage+80V; Rated current 8A; The input angle signal is A, B, Z phase pulse signal, has the DC motor driver of R232 interface.

10. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described vertical direction driver (17) is in rated voltage+80V; Rated current 8A; The input angle signal is A, B, Z phase pulse signal, has the DC motor driver of R232 interface.

11. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1; It is characterized in that: described high-speed data acquisition card (18) is supply voltage 12～48V; Be output as RJ45 type network interface card interface, support 10,000,000 and 100,000,000 adaptive network connection speeds, have the data transmission device of at least four RS-232/422/485 interfaces.

12. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1 is characterized in that: described host computer (19) is for have network interface at least, and Installed System Memory is supported the industrial computer of Windows XP operating system greater than 2GB.

13. 3 D laser scanning mine tailing dam body dynamic monitoring system device according to claim 1, it is characterized in that: the Control Software implementation procedure in said communication and host computer unit (4) is following:

1) laser data collecting unit (2) and controlling and driving and feedback unit (3) initialization: after system powers on; Horizontal direction motor (6) and vertical direction motor (12) move to 3 D laser scanning mine tailing dam body dynamic monitoring system device reference position according to the setting of horizontal direction driver (11) and vertical direction driver (17) respectively, high-speed data acquisition card (18) self-starting success;

2) communication and host computer unit (4) initialization: the serial ports correlation parameter of laser data collecting unit (2) is set, connects laser data collecting unit (2), the transmission frequency of laser pulse is set; The functional parameter of controlling and driving and feedback unit (3) is set: control string slogan, sweep limit, sweep velocity, according to the requirement of engineering the scanning times and the trace interval on the same day are set regularly, the location parameter of each scanning flag point is set;

3) start the on-line monitoring button, the real-time angle information with the scene polar radius information, level and the vertical direction that obtain of laser data collecting unit (2) and controlling and driving and feedback unit (3) passes to host computer (19) through high-speed data acquisition card (18) and does further processing;

4) resolved data;

The data message utilization coordinate normalizing algorithm process of host computer (19) to gathering is about to laser data collecting unit (2) coordinate system, horizontal direction rotary transformer (8) coordinate system and vertical direction rotary transformer (14) coordinate system normalizing under the frame of reference of 3 D laser scanning mine tailing dam body dynamic monitoring system device.Detailed process is as shown in Figure 2, and setting up laser data collecting unit (2) origin is O _L-X _LY _LZ _L, the frame of reference O of system _B-X _BY _BZ _BAnd three transition coordinate system O _M-X _MY _MZ _M, O _H-X _HY _HZ _HAnd O _V-X _VY _VZ _V, and each coordinate system is Descartes's right-handed coordinate system.According to the relevant transformational relation of coordinate system, calculate the scene space point at 3 D laser scanning mine tailing dam body dynamic monitoring system device frame of reference O _B-X _BY _BZ _BUnder the three-dimensional coordinate general formula:

Wherein,

α, β are respectively the information of obtaining of vertical direction rotary transformer (14) and horizontal direction rotary transformer (8);

R is a scene polar radius information;

Δ x, Δ z, Δ x ' are respectively the off-set value of the relevant coordinate axis in edge between coordinate system; After the entire system assembling is accomplished; Δ x, Δ z are fixed value, can calculate through the Machine Design size to draw, and Δ x ' is that laser data collecting unit (2) is measured the off-set value between initial point and the feathering axis;

The above-mentioned data of crossing through coordinate normalizing algorithm process are simplified, are shown in real time after the noise reduction process, with scanning result with the form real-time storage of three-dimensional coordinate in Excel, and the three-dimensional coordinate of each monumented point is stored among the Excel; Wherein, Sweep parameter is in response to the difference with the far and near different of zone; When the first use of device; Sweep parameter is precisely set, be stored in the stored data base of host computer (19), and deposit the accurate model of measuring in three dimensional point cloud storehouse and the three-dimensional coordinate information of monumented point in the intelligent comparison template database;

5) whether Calculation of Three Dimensional point cloud model and monumented point three-dimensional information be consistent with the result of java standard library, if inconsistent, then starts corresponding emergency preplan;

6) judge whether the tailing dam swept-volume finishes;

If the end of scan, device stops this task, according to the setting of 3 D laser scanning mine tailing dam body dynamic monitoring system device about timing scan, starts the 3rd step of entering once more, proceeds monitoring.

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