CN103336312A - Portable goaf three-dimensional laser scanning measuring device - Google Patents
Portable goaf three-dimensional laser scanning measuring device Download PDFInfo
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- CN103336312A CN103336312A CN2012105766130A CN201210576613A CN103336312A CN 103336312 A CN103336312 A CN 103336312A CN 2012105766130 A CN2012105766130 A CN 2012105766130A CN 201210576613 A CN201210576613 A CN 201210576613A CN 103336312 A CN103336312 A CN 103336312A
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Abstract
The invention provides a portable goaf three-dimensional laser scanning measuring device which mainly comprises a scanning unit, an embedded control unit, a power supply box and a PDA (personal digital assistant); the scanning unit consists of a radial motor, an axial motor and a motion control unit, and the radial motor and the axial motor are driven to rotate by the motion control unit; the radial and axial motor signal output ends are connected with the control signal input end of the motion control unit, the distance measurement signal output end of the laser distance measurement sensor is connected with the distance measurement signal input end of the embedded control unit, the inclination angle signal output end of the inclination angle sensor is connected with the inclination angle signal input end of the embedded control unit, the control signal output end of the embedded control unit is connected with the control signal input end of the motion control unit, the protective shell is fixedly connected with the base, and the base is provided with an aviation plug and a fixed conversion unit. The invention has the characteristics of small volume and light weight, and provides a better solution for the three-dimensional shape measurement of the mine goaf.
Description
Technical field
The present invention relates to a kind of portable goaf 3 D laser scanning measurement mechanism, belong to the spatial information field of measuring technique.
Background technology
The underground goaf that exploit mineral resources forms is the major hidden danger of Mine Safety in Production, the safety in production in serious threat mining area and the safety of people's lives and properties.Erecting dense individual props, surface subsidence easily cause casualty accident, the not clear goaf serious threat personnel in the pit that illegal, irregular exploitation forms and the safety of equipment.Therefore, scientifically disclosing the geometrical property of underground goaf and mutual spatial relationship has important effect to production and the safety in mine, for the safety of dead zone is administered and resource recovery provides design considerations accurately.
At present at goaf hidden danger, main by the monitoring of means such as ground penetrating radar, acoustic emission detection, geostress survey, GIS, but these methods can only be grasped the goaf local message, fail to measure three-dimensional configuration and the spatial positional information in goaf, also untappedly go out the three-dimensional laser scanner of measuring for the goaf.
Though existing three-dimensional laser scanning technique has formed comparatively perfect product line, these 3 D laser scanning products mainly are applicable to the three-dimensional configuration scanning of terrain object thing.And in the down-hole, mine because rugged surroundings such as down-hole high temperature, high humidity, high dust, space is narrow and small, personnel can't enter or since security reason should not enter the goaf, can only or use extension rod that scanner is stretched into the dead zone and measure by boring, traditional monitoring means can't be implemented to measure.
Summary of the invention
The present invention scans, can't measure the problem of mine underground goaf for solving the three-dimensional configuration that can only be used for terrain object that exists in the existing three-dimensional laser scanning technique, and then a kind of portable goaf 3 D laser scanning measurement mechanism is provided.For this reason, the invention provides following technical scheme:
Portable goaf 3 D laser scanning measurement mechanism, it is characterized in that, comprise motion control unit, the camera lens protective device, laser range sensor, radial motor, guard shield, embedded control unit, obliquity sensor, axial direction electric machine, base, aviation plug and fixed conversion unit, consumer unit and PDA, the first control signal output terminal of motion control unit is connected with the control signal input end of radial motor, the second control signal output terminal of motion control unit is connected with the control signal input end of axial electrode, the moment output terminal of radial motor is connected with the moment input end of laser range sensor, the distance measuring signal output terminal of laser range sensor is connected with the distance measuring signal input end of embedded control unit, the dip angle signal output terminal of obliquity sensor is connected with the dip angle signal input end of embedded control unit, the control signal output terminal of embedded control unit is connected with the control signal input end of motion control unit, motion control unit, radial motor, embedded control unit, obliquity sensor and axial direction electric machine all are arranged in the guard shield, guard shield is fixedlyed connected with base, base is provided with aviation plug and fixed conversion unit, consumer unit inserts aviation plug, and PDA is by the work of wireless mode control instrument.
Portable goaf provided by the invention 3 D laser scanning measurement mechanism has the advantages that volume is little, quality is light, for the mine worked-out section three-dimensional shape measurement provides solution preferably.
Description of drawings
The structural representation of the portable goaf 3 D laser scanning measurement mechanism that Fig. 1 provides for the specific embodiment of the present invention; Label 7 expression obliquity sensors among Fig. 1;
The structural representation that connects the portable goaf 3 D laser scanning measurement mechanism of tripod or extension rod in the fixed conversion unit that Fig. 2 provides for the specific embodiment of the present invention; Label 7 expression obliquity sensors among Fig. 2;
The laser scanning principle schematic that Fig. 3 provides for the specific embodiment of the present invention.
Embodiment
Below in conjunction with the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making all other embodiment that obtain under the creative work prerequisite.
The specific embodiment of the present invention provides a kind of portable goaf 3 D laser scanning measurement mechanism, as depicted in figs. 1 and 2, comprise motion control unit 1, camera lens protective device 2, laser range sensor 3, radial motor 4, guard shield 5, embedded control unit 6, obliquity sensor 7, axial direction electric machine 8, base 9, aviation plug 10 and fixed conversion unit 11, consumer unit 12 and PDA13, the first control signal output terminal of motion control unit 1 is connected with the control signal input end of radial motor 4, the second control signal output terminal of motion control unit 1 is connected with the control signal input end of axial electrode 8, the moment output terminal of radial motor 4 is connected with the moment input end of laser range sensor 3, the distance measuring signal output terminal of laser range sensor 3 is connected with the distance measuring signal input end of embedded control unit 6, the dip angle signal output terminal of obliquity sensor 7 is connected with the dip angle signal input end of embedded control unit 6, the control signal output terminal of embedded control unit 6 is connected with the control signal input end of motion control unit 1, motion control unit 1, radial motor 4, embedded control unit 6, obliquity sensor 7 and axial direction electric machine 8 all are arranged in the guard shield 5, guard shield 5 is fixedlyed connected with base 9, base 9 is provided with aviation plug 10 and fixed conversion unit 11, consumer unit 12 inserts aviation plug 10, and PDA13 is by the work of wireless mode control instrument.
Concrete, motion control unit 1 control radial motor 4 and axial direction electric machine 8, drive laser range sensor 3 rotations and scanner self radially, axially rotate, finish three-dimensional configuration scanning, by radially, axially code device signal obtain radially, axial scan angle information value, be used for calculating the dead zone D coordinates value; Camera lens protective device 2 is arranged on the camera lens of laser range sensor 3, for the protection of laser range sensor 3, prevents that steam, contamination by dust influence the scanner use under the mal-condition of goaf, adopts K9 optical glass, reaches 99.9% in 905nm wave band transmitance; Embedded control unit 6 can be gathered the signal of laser range sensor 3 and obliquity sensor 7, by motion control unit 1 control radial electrode 4 and axial direction electric machine 8 rotations, and with the data storage of gathering, and calculate each point coordinate of scanning, can be wirelessly transmitted on the hand-held PDA, show in real time; Fixed conversion unit 11 can connect tripod or extension rod, stretches into the dead zone and measures; Guard shield 5 can adopt aviation aluminium material, and this quality of materials is light, intensity is high, superior performance; Laser range sensor 3 is pulse sensor, adopt continuous impulse scanning goaf form, this pulse type laser distance measuring sensor measuring distance under 20% reflectivity can reach 300m, under 90% reflectivity, can survey 3000m, adopt frequency to reach as high as 10kHz, measuring accuracy is not less than ± 2cm, can pass through the communication of RS422 agreement; Radial motor 4 is provided with angular encoder, and this scrambler is incremental angle encoder, is not less than 2000p/r, and peak torque is not less than 3.3Nm, maximum non-load speed 120r/min, and electric current is not less than 0.64A, and quality is less than 0.4Kg; Axial direction electric machine 8 is provided with angular encoder, and this scrambler is incremental angle encoder, is not less than 2000p/r, and peak torque is not less than 8.3Nm, maximum non-load speed 120r/min, and electric current is not less than 1.6A, and quality is less than 0.62Kg; Obliquity sensor 7 adopts the double-shaft tilt angle compensation technique, and measurement range is ± 30 °, and resolution reaches 0.001 °, and accuracy is ± 0.05 °, and zero temperature drift is 0.5 °; The radially turning axle of radial motor 4 adopts six core conducting slip rings, and the slip ring external diameter is less than 6.2mm, and length is less than 20mm, and every line current is not less than 2A, and slip ring is fixed by glue; The axial turning axle of axial direction electric machine 8 adopts 12 core conducting slip rings, and every line current is not less than 2A, and slip ring is fixed by flange; Radially turning axle and axial turning axle adopt the lip seal mode to seal, and static seal adopts O RunddichtringO mode to seal; Two double-shaft tilt angle sensors 7 are formed attitude and are corrected redundant; Radial motor 4 and axial direction electric machine 8 adopts the harmonic gear reducing gears, forms the load-bearing capacity height, the ratio of gear large volume is little, transmission efficiency is high, stable drive, kinematic train that kinematic accuracy is high.
The principle of work of the portable goaf 3 D laser scanning measurement mechanism that this embodiment provides is based on laser ranging technique, and laser ranging is to utilize light to come and go the time conversion of propagating at testing distance distance value L, and its equation is:
Wherein, c is the velocity of propagation of laser in atmosphere, and t is the round trip propagation time of laser on testing distance.
Three-dimensional laser scanner is the quick measuring system of robotization of laser ranging head and angle measurement system combination.Three-dimensional laser scanner uses the instrument internal coordinate system, and as shown in Figure 3, X-axis is in transversal scanning face, and Y-axis is vertical with the Z axle in transversal scanning face, and the Z axle is vertical with transversal scanning face.Obtain distance measurement value S, each laser pulse transversal scanning angular observation value α of precision interval clock controlled encoder synchro measure and longitudinal scanning angular observation value θ by data acquisition.Can obtain the computing formula of three-dimensional laser pin point coordinate thus:
The workflow of the portable goaf 3 D laser scanning measurement mechanism that this embodiment provides comprises: 1) target is installed, is fixed the scanner line position initialization of going forward side by side; 2) scanner head horizontal level zeroing 3) sweep parameter is set, comprise filename, scanning angle scope and the scanning accuracy etc. 4 of preserving detection data) scanner head begin scanning, and scan-data is sent in the control box in wired mode, simultaneously data send to host computer 5 automatically with wireless mode in the control box) finish week scanning back scanner head and raise an angle that sets in advance (being generally 1 °～3 °) automatically and carry out the scanning of second week, all finish 6 until scanning process) carry out data processing and modeling etc., and analyze the stability in goaf.
Portable goaf provided by the invention 3 D laser scanning measurement mechanism has the advantages that volume is little, quality is light, for the mine worked-out section three-dimensional shape measurement provides solution preferably.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the embodiment of the invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (9)
1. portable goaf 3 D laser scanning measurement mechanism, it is characterized in that, comprise motion control unit (1), camera lens protective device (2), laser range sensor (3), radial motor (4), guard shield (5), embedded control unit (6), obliquity sensor (7), axial direction electric machine (8), base (9), aviation plug (10), fixed conversion unit (11), consumer unit (12) and PDA (13); The first control signal output terminal of motion control unit (1) is connected with the control signal input end of radial motor (4), the second control signal output terminal of motion control unit (1) is connected with the control signal input end of axial electrode (8), the moment output terminal of radial motor (4) is connected with the moment input end of laser range sensor (3), the distance measuring signal output terminal of laser range sensor (3) is connected with the distance measuring signal input end of embedded control unit (6), the dip angle signal output terminal of obliquity sensor (7) is connected with the dip angle signal input end of embedded control unit (6), the control signal output terminal of embedded control unit (6) is connected with the control signal input end of motion control unit (1), motion control unit (1), radial motor (4), embedded control unit (6), obliquity sensor (7) and axial direction electric machine (8) all are arranged in the guard shield (5), guard shield (5) is fixedlyed connected with base (9), and base (9) is provided with aviation plug (10) and fixed conversion unit (11).
2. portable goaf according to claim 13 D laser scanning measurement mechanism is characterized in that, device adopts asymmetric eccentric structure design, reduces volume.
3. portable goaf according to claim 13 D laser scanning measurement mechanism is characterized in that, attitude is corrected and adopted two double-shaft tilt angle sensors (7) to form, and forms attitude and corrects redundant.
4. portable goaf according to claim 13 D laser scanning measurement mechanism, it is characterized in that, radial motor (4) and axial direction electric machine (8) adopt the harmonic gear reducing gear, form the load-bearing capacity height, volume is little, ratio of gear is big, transmission efficiency is high, stable drive, kinematic train that kinematic accuracy is high.
5. portable goaf according to claim 13 D laser scanning measurement mechanism is characterized in that camera lens protective device (2) is arranged on the camera lens front end of laser range sensor (3).
6. camera lens protective device according to claim 5 (2) is characterized in that, adopts the transparent K9 optical glass of 905nm.
7. portable goaf according to claim 13 D laser scanning measurement mechanism, it is characterized in that, the axial turning axle of the radially turning axle of radial motor (4) and axial direction electric machine (8) all adopts the lip seal mode to seal, and static seal adopts O RunddichtringO mode to seal.
8. portable goaf according to claim 13 D laser scanning measurement mechanism is characterized in that, guard shield (5) adopts aviation aluminium material.
9. portable goaf according to claim 13 D laser scanning measurement mechanism is characterized in that fixed conversion unit (11) can be fixed on the tripod and measure, and also can adopt extension rod to stretch into the dead zone and measure.
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| CN201210576613.0A CN103336312B (en) | 2012-12-26 | 2012-12-26 | Portable goaf three-dimensional laser scanning measuring device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457612A (en) * | 2014-12-25 | 2015-03-25 | 中国安全生产科学研究院 | Drilling embedment type three-dimensional space laser scanning ranging imaging system |
| CN104808256A (en) * | 2015-04-02 | 2015-07-29 | 苏州华徕光电仪器有限公司 | Day and night universal photoelectric detection system based on graphene solar energy power source |
| CN104989390A (en) * | 2015-06-12 | 2015-10-21 | 太原钢铁(集团)有限公司 | Multilayer goaf one-step detection drill-lifting-free synchronous scanning method |
| CN106019398A (en) * | 2016-05-26 | 2016-10-12 | 武汉固德超前高新科技研发有限公司 | Detecting device, detecting system and detecting method for exploring internal structure of cave |
| CN107462222A (en) * | 2017-07-25 | 2017-12-12 | 新疆国利衡清洁能源科技有限公司 | Mapping system and mapping method for underground coal gasification combustion space area |
| CN108931232A (en) * | 2018-09-05 | 2018-12-04 | 上海华测导航技术股份有限公司 | A kind of safety monitoring and evaluation method in goaf |
| CN109059803A (en) * | 2018-08-14 | 2018-12-21 | 贵州大学 | A kind of ore mining three-dimensional laser scanner |
| CN109115176A (en) * | 2018-09-05 | 2019-01-01 | 上海华测导航技术股份有限公司 | A kind of three-dimensional laser scanning system of movable type |
| CN109375281A (en) * | 2018-09-05 | 2019-02-22 | 上海华测导航技术股份有限公司 | Goaf surveying method based on 3 D laser scanning |
| CN110737023A (en) * | 2019-10-17 | 2020-01-31 | 北京矿冶科技集团有限公司 | mining micro-seismic monitoring signal processing method |
| CN115199336A (en) * | 2022-07-15 | 2022-10-18 | 中钢集团马鞍山矿山研究总院股份有限公司 | Mine goaf form real-time monitoring system and modeling method |
| CN115307716A (en) * | 2022-08-15 | 2022-11-08 | 贵州电网有限责任公司 | Main transformer vibration visualization detection method based on data mapping |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457612A (en) * | 2014-12-25 | 2015-03-25 | 中国安全生产科学研究院 | Drilling embedment type three-dimensional space laser scanning ranging imaging system |
| CN104808256A (en) * | 2015-04-02 | 2015-07-29 | 苏州华徕光电仪器有限公司 | Day and night universal photoelectric detection system based on graphene solar energy power source |
| CN104989390A (en) * | 2015-06-12 | 2015-10-21 | 太原钢铁(集团)有限公司 | Multilayer goaf one-step detection drill-lifting-free synchronous scanning method |
| CN104989390B (en) * | 2015-06-12 | 2017-10-10 | 太原钢铁(集团)有限公司 | Disposably detection does not put forward brill synchronous scanning method in multilayer goaf |
| CN106019398A (en) * | 2016-05-26 | 2016-10-12 | 武汉固德超前高新科技研发有限公司 | Detecting device, detecting system and detecting method for exploring internal structure of cave |
| CN107462222A (en) * | 2017-07-25 | 2017-12-12 | 新疆国利衡清洁能源科技有限公司 | Mapping system and mapping method for underground coal gasification combustion space area |
| CN109059803A (en) * | 2018-08-14 | 2018-12-21 | 贵州大学 | A kind of ore mining three-dimensional laser scanner |
| CN109115176A (en) * | 2018-09-05 | 2019-01-01 | 上海华测导航技术股份有限公司 | A kind of three-dimensional laser scanning system of movable type |
| CN108931232A (en) * | 2018-09-05 | 2018-12-04 | 上海华测导航技术股份有限公司 | A kind of safety monitoring and evaluation method in goaf |
| CN109375281A (en) * | 2018-09-05 | 2019-02-22 | 上海华测导航技术股份有限公司 | Goaf surveying method based on 3 D laser scanning |
| CN109115176B (en) * | 2018-09-05 | 2021-07-06 | 上海华测导航技术股份有限公司 | Movable three-dimensional laser scanning system |
| CN110737023A (en) * | 2019-10-17 | 2020-01-31 | 北京矿冶科技集团有限公司 | mining micro-seismic monitoring signal processing method |
| CN115199336A (en) * | 2022-07-15 | 2022-10-18 | 中钢集团马鞍山矿山研究总院股份有限公司 | Mine goaf form real-time monitoring system and modeling method |
| CN115199336B (en) * | 2022-07-15 | 2023-06-06 | 中钢集团马鞍山矿山研究总院股份有限公司 | Real-time monitoring system and modeling method for mine goaf morphology |
| WO2024011891A1 (en) * | 2022-07-15 | 2024-01-18 | 中钢集团马鞍山矿山研究总院股份有限公司 | Real-time mine goaf morphology monitoring system, and modeling method |
| CN115307716A (en) * | 2022-08-15 | 2022-11-08 | 贵州电网有限责任公司 | Main transformer vibration visualization detection method based on data mapping |
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