CN103336312B - Portable goaf three-dimensional laser scanning measuring device - Google Patents
Portable goaf three-dimensional laser scanning measuring device Download PDFInfo
- Publication number
- CN103336312B CN103336312B CN201210576613.0A CN201210576613A CN103336312B CN 103336312 B CN103336312 B CN 103336312B CN 201210576613 A CN201210576613 A CN 201210576613A CN 103336312 B CN103336312 B CN 103336312B
- Authority
- CN
- China
- Prior art keywords
- control unit
- portable
- laser scanning
- input end
- goaf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
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 three dimension laser scanning surreying device, belong to spatial information field of measuring technique.
Background technology
The Goaf Area that exploit mineral resources is formed is major hidden danger, the safety in production in serious threat mining area and the safety of people's lives and properties of Mine Safety in Production.Erecting dense individual props, surface subsidence easily cause casualty accident, the safety of the not clear goaf serious threat personnel in the pit that illegal, irregular exploitation is formed and equipment.Therefore, the geometrical property and the production and safety of mutual spatial relationship to mine that scientifically disclose underground goaf have very important effect, and the safety for dead zone is administered and resource recovery provides design considerations accurately.
At present for goaf hidden danger, mainly through means monitorings such as ground penetrating radar, acoustic emission detection, geostress survey, GIS, but these methods can only grasp goaf local message, fail to measure three-dimensional configuration and the spatial positional information in goaf, also the untapped three-dimensional laser scanner going out to measure for goaf.
Although existing three-dimensional laser scanning technique has defined comparatively perfect product line, these 3 D laser scanning products have mainly been applicable to the three-dimensional configuration scanning of terrain object thing.And at mine down-hole due to rugged surroundings such as down-hole high temperature, high humidity, high dust, narrow spaces, personnel cannot enter or should not enter goaf due to security reason, can only measure by holing or using extension rod that scanner is stretched into dead zone, traditional monitoring means cannot be implemented to measure.
Summary of the invention
The present invention solves the problem that the three-dimensional configuration that can only be used for terrain object existed in existing three-dimensional laser scanning technique scanned, cannot measure mine down-hole goaf, and then provides a kind of portable goaf three dimension laser scanning surreying device.For this reason, the invention provides following technical scheme:
Portable goaf three dimension laser scanning surreying device, is characterized in that, comprise motion control unit, 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, first control signal output terminal of motion control unit is connected with the control signal input end of radial motor, 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 are all arranged in guard shield, and guard shield is fixedly connected with base, and base is provided with aviation plug and fixed conversion unit, consumer unit access aviation plug, PDA wirelessly control instrument work.
Portable goaf provided by the invention three dimension laser scanning surreying device has the advantages that volume is little, quality is light, for mine worked-out section three-dimensional shape measurement provides good solution.
Accompanying drawing explanation
The structural representation of the portable goaf three dimension laser scanning surreying device that Fig. 1 provides for the specific embodiment of the present invention; Label 7 in Fig. 1 represents obliquity sensor;
The structural representation connecting the portable goaf three dimension laser scanning surreying device of tripod or extension rod on fixed conversion unit that Fig. 2 provides for the specific embodiment of the present invention; Label 7 in Fig. 2 represents obliquity sensor;
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 present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The specific embodiment of the present invention provides a kind of portable goaf three dimension laser scanning surreying device, 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, first control signal output terminal of motion control unit 1 is connected with the control signal input end of radial motor 4, 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 are all arranged in guard shield 5, guard shield 5 is fixedly connected with base 9, base 9 is provided with aviation plug 10 and fixed conversion unit 11, consumer unit 12 accesses aviation plug 10, PDA13 wirelessly control instrument work.
Concrete, motion control unit 1 controls radial motor 4 and axial direction electric machine 8, laser range sensor 3 is driven to rotate and scanner self radial direction, axial-rotation, complete three-dimensional configuration scanning, radial, axial scan angle information value is obtained, for calculating dead zone D coordinates value by radial, axial code device signal; 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 steam under the mal-condition of goaf, contamination by dust affects scanner and use, adopt K9 optical glass, reach 99.9% in 905nm wave band transmitance; Embedded control unit 6 can gather the signal of laser range sensor 3 and obliquity sensor 7, control radial electrode 4 by motion control unit 1 and axial direction electric machine 8 rotates, and the data that will gather store, and calculate each point coordinate of scanning, can be wirelessly transmitted on hand-held PDA, show in real time; Fixed conversion unit 11 can connect tripod or extension rod, stretches into dead zone and measures; Guard shield 5 can adopt aircraft aluminum 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, 3000m can be surveyed under 90% reflectivity, frequency is adopted to reach as high as 10kHz, measuring accuracy is not less than ± 2cm, by RS422 protocol; 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 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 radial rotary axle of radial motor 4 adopts six core conducting slip rings, and slip ring external diameter is less than 6.2mm, and length is less than 20mm, and every root line current is not less than 2A, and slip ring is fixed by glue; The axial-rotation axle of axial direction electric machine 8 adopts 12 core conducting slip rings, and every root line current is not less than 2A, and slip ring is fixed by flange; Radial rotary axle and axial-rotation axle adopt lip seal mode to seal, and static seal adopts O RunddichtringO mode to seal; Two double-shaft tilt angle sensors 7 form attitude and correct redundancy; Radial motor 4 and axial direction electric machine 8 adopt harmonic drive structure, the kinematic train that composition load-bearing capacity is high, ratio of gear large volume is little, transmission efficiency is high, stable drive, kinematic accuracy are high.
The principle of work of the portable goaf three dimension laser scanning surreying device that this embodiment provides is based on laser ranging technique, and laser ranging utilizes light time conversion of roundtrip propagation on testing distance to go out distance value L, and its equation is:
Wherein, c is laser velocity of propagation in an atmosphere, and t is the round trip propagation time of laser on testing distance.
Three-dimensional laser scanner is the robotization Fast measurement system that laser ranging head and angle measurement system combine.Three-dimensional laser scanner uses instrument internal coordinate system, and as shown in Figure 3, X-axis is in transversal scanning face, and Y-axis is vertical with Z axis in transversal scanning face, and Z axis is vertical with transversal scanning face.Distance measurement value S, precision interval clock controlled encoder synchro measure each laser pulse transversal scanning angular observation α and longitudinal scanning angular observation θ is obtained by data acquisition.The computing formula of three-dimensional laser pin point coordinate can be obtained thus:
The workflow of the portable goaf three dimension laser scanning surreying device that this embodiment provides comprises: 1) install target, fixes scanner and to go forward side by side line position initialization; 2) scanner head horizontal level zeroing 3) sweep parameter is set, comprising and preserve the filename of detection data, scanning angle scope and scanning accuracy etc. 4) scanner head starts scanning, and scan-data is sent in control box in a wired fashion, simultaneously in control box, data are wirelessly sent to host computer 5 automatically) complete scanning in one week afterwards scanner head automatically raise an angle pre-set (being generally 1 ° ~ 3 °) and carry out second week scanning, until scanning process all terminates 6) carry out data processing and modeling etc., and analyze the stability in goaf.
Portable goaf provided by the invention three dimension laser scanning surreying device has the advantages that volume is little, quality is light, for mine worked-out section three-dimensional shape measurement provides good solution.
The above; be only the present invention's preferably embodiment; 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 present invention discloses; the change 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 three dimension laser scanning surreying device, 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);
First control signal output terminal of motion control unit (1) is connected with the control signal input end of radial motor (4), second control signal output terminal of motion control unit (1) is connected with the control signal input end of axial direction electric machine (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) are all arranged in guard shield (5), guard shield (5) is fixedly connected with base (9), base (9) is provided with aviation plug (10) and fixed conversion unit (11).
2. portable goaf according to claim 1 three dimension laser scanning surreying device, it is characterized in that, device adopts asymmetric eccentric structure to design, and reduces volume.
3. portable goaf according to claim 1 three dimension laser scanning surreying device, is characterized in that, attitude corrects employing two double-shaft tilt angle sensor (7) compositions, and composition attitude corrects redundancy.
4. portable goaf according to claim 1 three dimension laser scanning surreying device, it is characterized in that, radial motor (4) and axial direction electric machine (8) adopt harmonic drive structure, the kinematic train that composition load-bearing capacity is high, volume is little, ratio of gear is large, transmission efficiency is high, stable drive, kinematic accuracy are high.
5. portable goaf according to claim 1 three dimension laser scanning surreying device, it is characterized in that, camera lens protective device (2) is arranged on the camera lens front end of laser range sensor (3).
6. portable goaf according to claim 5 three dimension laser scanning surreying device, is characterized in that, camera lens protective device (2) adopts K9 optical glass, reaches 99.9% in 905nm wave band transmitance.
7. portable goaf according to claim 1 three dimension laser scanning surreying device, it is characterized in that, the radial rotary axle of radial motor (4) and the axial-rotation axle of axial direction electric machine (8) all adopt lip seal mode to seal, and static seal adopts O RunddichtringO mode to seal.
8. portable goaf according to claim 1 three dimension laser scanning surreying device, is characterized in that, guard shield (5) adopts aircraft aluminum material.
9. portable goaf according to claim 1 three dimension laser scanning surreying device, is characterized in that, fixed conversion unit (11) can be fixed on tripod to be measured, and extension rod also can be adopted to stretch into dead zone and measure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210576613.0A CN103336312B (en) | 2012-12-26 | 2012-12-26 | Portable goaf three-dimensional laser scanning measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210576613.0A CN103336312B (en) | 2012-12-26 | 2012-12-26 | Portable goaf three-dimensional laser scanning measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103336312A CN103336312A (en) | 2013-10-02 |
| CN103336312B true CN103336312B (en) | 2016-02-10 |
Family
ID=49244514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210576613.0A Active CN103336312B (en) | 2012-12-26 | 2012-12-26 | Portable goaf three-dimensional laser scanning measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103336312B (en) |
Families Citing this family (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 |
| 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 |
| CN106019398B (en) * | 2016-05-26 | 2018-02-06 | 武汉固德超前高新科技研发有限公司 | For exploring the detection method of solution cavity internal structure |
| 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 |
| 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 |
| 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 |
| 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 |
| CN110737023B (en) * | 2019-10-17 | 2021-04-16 | 北京矿冶科技集团有限公司 | Processing method of mining micro-seismic monitoring signal |
| 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1569565A1 (en) * | 1988-04-04 | 1990-06-07 | Московский Институт Инженеров Железнодорожного Транспорта | Apparatus for monitoring incomplete drain of petroleum products in railway tanks |
| CN1667357A (en) * | 2005-04-07 | 2005-09-14 | 上海交通大学 | Pneumatic caisson oriented laser three-dimensional landform real-time display system |
| CN101855526A (en) * | 2007-10-16 | 2010-10-06 | 阿齐兹汽油站服务系统及建造业和商贸有限公司 | The method and apparatus for forming the calibration chart for the underground fuel tanks |
| CN201972735U (en) * | 2010-11-27 | 2011-09-14 | 山东理工大学 | Real-time all-round nondestructive monitoring device for roadway and gob surrounding rock safety |
-
2012
- 2012-12-26 CN CN201210576613.0A patent/CN103336312B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1569565A1 (en) * | 1988-04-04 | 1990-06-07 | Московский Институт Инженеров Железнодорожного Транспорта | Apparatus for monitoring incomplete drain of petroleum products in railway tanks |
| CN1667357A (en) * | 2005-04-07 | 2005-09-14 | 上海交通大学 | Pneumatic caisson oriented laser three-dimensional landform real-time display system |
| CN101855526A (en) * | 2007-10-16 | 2010-10-06 | 阿齐兹汽油站服务系统及建造业和商贸有限公司 | The method and apparatus for forming the calibration chart for the underground fuel tanks |
| CN201972735U (en) * | 2010-11-27 | 2011-09-14 | 山东理工大学 | Real-time all-round nondestructive monitoring device for roadway and gob surrounding rock safety |
Non-Patent Citations (2)
| Title |
|---|
| 地下空区激光三维探测应用研究;刘希灵 等;《金属矿山》;20081130(第11期);全文 * |
| 空区激光探测系统在我国的研究与应用;刘晓明 等;《西安科技大学学报》;20080630;第28卷(第2期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103336312A (en) | 2013-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103336312B (en) | Portable goaf three-dimensional laser scanning measuring device | |
| US10731967B2 (en) | System for quickly detecting tunnel deformation | |
| CN109186480A (en) | Tunnel surrounding scanning and observation system based on double-shielded TBM technique | |
| CN102322857B (en) | Position and posture measuring system and method for mechanical equipment | |
| CN110736458B (en) | Heading machine autonomous navigation system and method based on dead reckoning | |
| CN104457612A (en) | Drilling embedment type three-dimensional space laser scanning ranging imaging system | |
| CN101266134A (en) | Cantilever driving frame head posture measuring systems and its method | |
| CN105488958A (en) | Non-contact landslide hazard monitoring system and method | |
| CN110186420B (en) | Tunnel section convergence deformation automatic monitoring system | |
| CN210773935U (en) | Mining three-dimensional laser digital measuring instrument | |
| CN204461414U (en) | The portable two-way laser of a kind of mining tunnel launches section detector | |
| CN106005383A (en) | Underground roadway high-precision three-dimensional model scanning device and method | |
| KR101934318B1 (en) | Method for processing scanning data using 3-dimensional laser scanner | |
| CN106959095A (en) | Geology internal displacement three-dimension monitor system and its Embedded installation method, measuring method | |
| CN109827533B (en) | Measuring system for determining internal boundary of underground karst cave and using method thereof | |
| CN206862331U (en) | Geology internal displacement three-dimension monitor system | |
| CN112720532A (en) | Machine crowd is strutted to stable intelligent monitoring of country rock and precision | |
| CN112945121A (en) | Roadway multi-view vision measurement method and device based on line structured light scanning | |
| CN110007309A (en) | A kind of hydraulic shield support attitude intelligent monitoring system and its measurement method | |
| CN204040008U (en) | A kind of foundation pit deformation monitoring device | |
| CN109375281A (en) | Goaf surveying method based on 3 D laser scanning | |
| CN109115176A (en) | A kind of three-dimensional laser scanning system of movable type | |
| CN108931232A (en) | A kind of safety monitoring and evaluation method in goaf | |
| CN105953867A (en) | Mine chute material level measurement method based on small unmanned aerial vehicle and visualization method | |
| CN204705359U (en) | A kind of boom-type roadheader fuselage and cutting head pose detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |