CN108931232A - A kind of safety monitoring and evaluation method in goaf - Google Patents
A kind of safety monitoring and evaluation method in goaf Download PDFInfo
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- CN108931232A CN108931232A CN201811034116.1A CN201811034116A CN108931232A CN 108931232 A CN108931232 A CN 108931232A CN 201811034116 A CN201811034116 A CN 201811034116A CN 108931232 A CN108931232 A CN 108931232A
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- goaf
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
Abstract
The present invention provides a kind of safety monitoring in goaf and evaluation methods, comprising the following steps: according to area's actual conditions are surveyed, in conjunction with absolute coordinate control point, plans walking path, avoids multiple scanning；Tunnel is scanned, high quality point cloud data is obtained；Roadway scanning is carried out using the mobile laser scanning system of GeoSLAM ZEB-REVO RT hand-held SLAM, common Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain data；The data in goaf are acquired by way of forward movement, it will form 360 ° of spherical scanning region immediately ahead of equipment, to completely obtain the data in goaf, the present invention is a kind of completely new measuring technique, it breaches traditional single-point measurement method, with high efficiency, high-precision unique advantage, three-dimensional laser scanning technique is capable of providing the three dimensional point cloud of scanning body surface, therefore can be used for obtaining the mathematical model of high-accuracy high-resolution.
Description
Technical field
The present invention relates to underground mining field, in particular to the safety monitoring and evaluation method in a kind of goaf.
Background technique
Goaf is " cavity " by artificially excavating or natural geological movement generates below earth's surface, the presence in goaf
So that the safety in production in mine faces very big safety problem, personnel and mechanical equipment, which may all be fallen into inside goaf, is hurt
Evil.
Underground mining forms a large amount of goaf security risks, and common survey method has been unable to meet mine and manages to goaf
The demand of reason and Control of Hidden.As mine is to deep mining, ground pressure increases, and underground vacant areas is depressed on powerful ground, is easy hair
It is very big especially to turn opencut influence to underground for raw cave-in accident；Underground mining remains a large amount of stope, chamber, lane
Road is not handled in time, brings serious hidden danger to strip mining transformation, while coming sternly to mine staff and equipment belt
The threat of weight；The spatial position in accurate prospecting goaf, form, deformation observation, the data of the 3 D stereos such as volume, science subject
Goaf Area is managed, it is effective to improve safety in production.
Since Goaf Area has, latent property is strong, regular poor, the goaf top plate caving collapse feelings of spatial distribution characteristic
Condition it is difficult to predict the features such as, therefore, how to the distribution of Goaf Area, spatial shape feature and the inbreak shape in goaf
Condition etc. carries out quantization judge, is always that puzzlement engineers and technicians carry out the evaluation of goaf potential risk and rationally determine mined out
The key technology difficulty of area's punishment countermeasure.
Traditional mapping investigation way carries out single-point type and inspects the measurement of formula by random samples, it is easy to lose critical data letter
Breath, novel exploratory techniques means will solve these critical technical problems, be the safety in production in goaf, safety evaluatio
Reliability and resolution reasonability provide science foundation.
Summary of the invention
In order to solve above-mentioned insufficient defect, the present invention provides a kind of safety monitoring in goaf and evaluation methods, originally
Invention is a kind of completely new measuring technique, it breaches traditional single-point measurement method, has high efficiency, high-precision uniqueness excellent
Gesture, three-dimensional laser scanning technique are capable of providing the three dimensional point cloud of scanning body surface, therefore can be used for obtaining high-precision
High-resolution mathematical model.
The present invention provides a kind of safety monitoring in goaf and evaluation methods, comprising the following steps:
Step (1): according to area's actual conditions are surveyed, in conjunction with absolute coordinate control point, planning walking path, avoids repeating to sweep
It retouches；Tunnel is scanned, high quality point cloud data is obtained；
Step (2): roadway is carried out using the mobile laser scanning system of GeoSLAM ZEB-REVO RT hand-held SLAM and is swept
It retouches, common Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain
Data；
Step (3): the data in goaf are acquired by way of forward movement, will form 360 ° of ball immediately ahead of equipment
Shape scanning area, to completely obtain the data in goaf；
Step (4): above-mentioned goaf data are handled；
Step (5): it is compared by the goaf data of more phases, analyzes the deformation in goaf, Dangerous Rock Body can be positioned
Position, volume can assist the departments such as mine safety, geology, production to judge, and carry out safe disposition and effectively avoid geology calamity
Harmful generation.
The safety monitoring and evaluation method in a kind of above-mentioned goaf, wherein specifically included in the step (4):
Step (4.1): two three-dimensional linkages check point cloud data, and show motion track；
Step (4.2): goaf three-dimensional measuring analysis；
Step (4.3): data automatic Mosaic in different time periods；
Step (4.4): goaf absolute coordinate conversion；
Step (4.5): mined out section model automatic modeling.
The safety monitoring and evaluation method in a kind of above-mentioned goaf, wherein further include goaf data application, specially
Volume calculating in goaf can be used for producing examination, goaf backfill, and data can be introduced directly into mine special-purpose software, adopt for calculating
Dead zone volume.
The safety monitoring and evaluation method in a kind of above-mentioned goaf, wherein it further include goaf safety monitoring and evaluation,
It can specially be compared by the goaf data of more phases, analyze the deformation in goaf, the position of Dangerous Rock Body, body can be positioned
Product, can assist the departments such as mine safety, geology, production to judge, and carry out the hair that safe disposition effectively avoids geological disaster
It is raw.
The safety monitoring and evaluation method in a kind of above-mentioned goaf, wherein further include mining design and operation management, use
In the true three-dimensional goaf data obtained by laser scanning.
The safety monitoring and evaluation method in a kind of above-mentioned goaf, wherein including data acquisition unit, the data are adopted
Collect unit according to area's actual conditions are surveyed, in conjunction with absolute coordinate control point, plans walking path, avoid multiple scanning；To tunnel into
Row scanning, obtains high quality point cloud data；GeoSLAM ZEB-REVO RT hand-held SLAM moves laser scanning system, described
The mobile laser scanning system of GeoSLAM ZEB-REVO RT hand-held SLAM is for carrying out roadway scanning, common Android device, apple
Fruit equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain data；Data Management Analysis mould
Block, acquisition unit acquires the number in goaf to the Data Management Analysis module by way of forward movement based on the data
According to, it will form 360 ° of spherical scanning region immediately ahead of equipment, thus the completely data in acquisition goaf, then to above-mentioned
Goaf data handled.
The safety monitoring and evaluation method in a kind of above-mentioned goaf, wherein further include goaf data application module, use
It can be used for producing examination in the calculating of goaf volume, goaf backfill, data can be introduced directly into mine special-purpose software, for calculating
Goaf volume；Mining design and operation management module, the true three-dimensional goaf data for being obtained by laser scanning；
Digital Mine module can obtain the terrain data outside mine.
The invention has the following advantages: the 1, present invention is a kind of completely new measuring technique, it breaches traditional list
Point measurement method, has high efficiency, high-precision unique advantage, and three-dimensional laser scanning technique is capable of providing scanning body surface
Three dimensional point cloud, therefore can be used for obtaining the mathematical model of high-accuracy high-resolution.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in all the attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is show the gist of the present invention.
Fig. 1 is a kind of safety monitoring in goaf provided by the invention and the flow chart of evaluation method.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
Shown in referring to Fig.1, the present invention provides a kind of safety monitoring in goaf and evaluation methods, comprising the following steps:
Step (1): according to area's actual conditions are surveyed, in conjunction with absolute coordinate control point, planning walking path, avoids repeating to sweep
It retouches；Tunnel is scanned, high quality point cloud data is obtained；
Step (2): roadway is carried out using the mobile laser scanning system of GeoSLAM ZEB-REVO RT hand-held SLAM and is swept
It retouches, common Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain
Data；
Step (3): the data in goaf are acquired by way of forward movement, will form 360 ° of ball immediately ahead of equipment
Shape scanning area, to completely obtain the data in goaf；
Step (4): above-mentioned goaf data are handled；
Step (5): it is compared by the goaf data of more phases, analyzes the deformation in goaf, Dangerous Rock Body can be positioned
Position, volume can assist the departments such as mine safety, geology, production to judge, and carry out safe disposition and effectively avoid geology calamity
Harmful generation.
In a preferred but unrestricted embodiment of the invention, step specifically includes in (4):
Step (4.1): two three-dimensional linkages check point cloud data, and show motion track；
Step (4.2): goaf three-dimensional measuring analysis；
Step (4.3): data automatic Mosaic in different time periods；
Step (4.4): goaf absolute coordinate conversion；
Step (4.5): mined out section model automatic modeling.
It further include goaf data application in an of the invention preferred but unrestricted embodiment, specially goaf body
Product, which calculates, can be used for producing examination, and goaf backfill, data can be introduced directly into mine special-purpose software, for calculating goaf body
Product.
In a preferred but unrestricted embodiment of the invention, further includes goaf safety monitoring and evaluation, specially may be used
It is compared by the goaf data of more phases, analyzes the deformation in goaf, the position of Dangerous Rock Body can be positioned, volume can assist
The departments such as mine safety, geology, production judge, and carry out the generation that safe disposition effectively avoids geological disaster.
It further include mining design and operation management, for by sharp in a preferred but unrestricted embodiment of the invention
The true three-dimensional goaf data that optical scanning obtains.
In the present invention, three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, is a kind of completely new measuring technique,
It breaches traditional single-point measurement method, has high efficiency, high-precision unique advantage, and three-dimensional laser scanning technique can mention
For scanning the three dimensional point cloud of body surface, therefore it can be used for obtaining the mathematical model of high-accuracy high-resolution.
In the present invention, SLAM three-dimensional laser scanning system, maximum purposes are can to carry out the measurement of real-time movable type,
The data acquisition for quickly carrying out goaf, mainly relies on SLAM algorithm.SLAM three-dimensional laser scanning system be by: laser is swept
Retouch instrument (Laser Scanner), Inertial Measurement Unit (Inertial measurement unit, abbreviation IMU) and SLAM algorithm
(simultaneous localization and mapping) three main element compositions.
In the present invention, SLAM algorithm is most important in this three big main element, and the quality of SLAM algorithm determines to understand
The precision of the motion track of calculating, the precision of motion track determine the precision of spatial scene three-dimensional data.SLAM is calculated
Method adds the attitude data that IMU is obtained according to characteristic point common on time shaft in the obtained three-dimensional data of laser range finder, into
The row real-time resolving equipment distance mobile from starting point, angle information, the continuous spatial scene data of reverse building.It is i.e. passive
Formula calculates continuous spatial data according to the data of Current ambient scene in real time.
In the present invention, by the experiment of a large amount of project and technological innovation, it is mobile sharp that China's survey is recommended to use hand-held SLAM
Photo-scanning system, GeoSLAM ZEB-REVO RT, the equipment have following characteristics: equipment is applicable to various environment, especially
Complicated and closed space is not necessarily to GNSS.Flexible interface and modes of emplacement hold ZEB-REVO, are mounted on nobody
On machine, robot, or it is mounted on bar to probe into hole.Weight only has 1kg, hand-held to scan multilayer space, and is based on
The degree of protection of highest IP64, equipment can be subjected to the test of harsh environment；ZEB-REVO has built-in WIFI module, smart phone
Or plate connects equipment WIFI, and control interface, real-time display scanning element cloud can be entered by webpage, real-time display scans rail
Mark, data can be directly downloaded by WIFI, simple and quick.As long as a few minutes train, anyone can operate ZEB-
REVO, measuring point rate are up to 43000 points/second, quickly generate 3D BIM model.The efficiency that ten times of traditional approach is obtained and is modeled multiple
Miscellaneous environmental data allows you to succeed finished item in the shortest time, without interruption.Than traditional measurement mode or static scanning
The faster speed of instrument, greatlys save your time of measuring.ZEB-REVO is also the strong supplement of your existing scanning hardware, mutually
In conjunction with keeping operation more efficient.
In the present invention, it according to area's actual conditions are surveyed, in conjunction with absolute coordinate control point, plans walking path, avoids repeating
Scanning；Tunnel is scanned, high quality point cloud data is obtained.
Roadway scanning is carried out using the mobile laser scanning system of GeoSLAM ZEB-REVO RT hand-held SLAM, it is common to pacify
Tall and erect equipment, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain data.Pass through
The mode of forward movement acquires the data in goaf, will form 360 ° of spherical scanning region immediately ahead of equipment, thus completely
Acquisition goaf data.
Referring to shown in table 1, compared with traditional examination mode, laser scanning has various advantages
Table 1
The present invention utilize three-dimensional laser measuring technique, can be stope volume calculate, appraise and decide mining amount and be goaf backfill
Data are provided to support.Through actual verification, examination demand can be fully met.Personnel are difficult to enter or relatively hazardous region, it can be real
It now safely and fast checks and accepts at a distance, data are accurately reliable.
In the present invention, it can be compared by the goaf data of more phases, analyze the deformation in goaf, can quickly determine
The position of position Dangerous Rock Body, volume can assist the departments such as mine safety, geology, production to judge, it is effective to carry out safe disposition
The generation of geological disaster is avoided, to realize goaf safety monitoring and evaluation.
In the present invention, the true three-dimensional goaf data obtained by laser scanning, avoid two-dimentional drawing or mould
The wrong place of description of the quasi- mined out section model for true goaf is served as by true three-dimensional mined out section model
Mining design backfills, and monitors, and management waits integrated work, to realize mining design and operation management.
In the present invention, with the attention that safety index is continuously improved in country and goaf investigation is administered, single well
Lower information system is no longer satisfied the needs of informatization, and the virtual mine established currently with traditional surveying and mapping technology
Model can not completely reflect the original appearance in true mine, the demand that automation mining is not achieved, intelligently digs up mine.China survey nobody
Machine laser radar system can obtain the terrain data outside mine, and SLAM laser radar system obtains the data inside mine, and two
Person combines, and true Digital Mine system is made, to realize Digital Mine.
In the present invention, with mining, mine dead zone safety problem is outstanding day by day.It, can be to life if dealt with improperly
The many aspects such as operation, backfill improvement, security control are produced to have an impact,
Novel laser measuring technique, safe and efficient, accurate acquisition dead zone data, three-dimensional configuration, and can measure required
Distance and calculate sectional area, volume etc., so as to status and administer and make analysis and judgement, ensure that the safety in mine is raw
It produces, scientific and effective analysis, manages dead zone.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (6)
1. the safety monitoring and evaluation method in a kind of goaf, which comprises the following steps:
Step (1): it according to area's actual conditions are surveyed, in conjunction with absolute coordinate control point, plans walking path, avoids multiple scanning；It is right
Tunnel is scanned, and obtains high quality point cloud data；
Step (2): carrying out roadway scanning using the mobile laser scanning system of GeoSLAM ZEB-REVO RT hand-held SLAM, general
Logical Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain data；
Step (3): acquiring the data in goaf by way of forward movement, will form 360 ° of spherical shape immediately ahead of equipment and sweeps
Region is retouched, to completely obtain the data in goaf；
Step (4): above-mentioned goaf data are handled；
Step (5): being compared by the goaf data of more phases, analyze the deformation in goaf, can position the position of Dangerous Rock Body,
Volume can assist the departments such as mine safety, geology, production to judge, and carry out safe disposition and effectively avoid geological disaster
Occur.
2. a kind of safety monitoring and evaluation method in goaf as described in claim 1, which is characterized in that the step (4)
In specifically include:
Step (4.1): two three-dimensional linkages check point cloud data, and show motion track；
Step (4.2): goaf three-dimensional measuring analysis；
Step (4.3): data automatic Mosaic in different time periods；
Step (4.4): goaf absolute coordinate conversion；
Step (4.5): mined out section model automatic modeling.
3. a kind of safety monitoring and evaluation method in goaf as described in claim 1, which is characterized in that further include goaf
The calculating of data application, specially goaf volume can be used for producing examination, and goaf backfill, it is dedicated that data can be introduced directly into mine
Software, for calculating goaf volume.
4. a kind of safety monitoring and evaluation method in goaf as described in claim 1, which is characterized in that further include that mining is set
Meter and operation management, the true three-dimensional goaf data for being obtained by laser scanning.
5. a kind of safety monitoring and evaluation method in goaf as described in claim 1, which is characterized in that acquired including data
Unit, the data acquisition unit in conjunction with absolute coordinate control point, plan walking path, avoid weight according to area's actual conditions are surveyed
Multiple scanning；Tunnel is scanned, high quality point cloud data is obtained；GeoSLAM ZEB-REVO RT hand-held SLAM is mobile to be swashed
Photo-scanning system, the mobile laser scanning system of the GeoSLAM ZEB-REVO RT hand-held SLAM are used to carry out roadway scanning,
Common Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain number
According to；Data Management Analysis module, the Data Management Analysis module side that acquisition unit passes through forward movement based on the data
Formula acquires the data in goaf, will form 360 ° of spherical scanning region immediately ahead of equipment, to completely obtain goaf
Data, then above-mentioned goaf data are handled.
6. a kind of safety monitoring and evaluation method in goaf as claimed in claim 5, which is characterized in that further include goaf
Data application module can be used for producing examination for the calculating of goaf volume, and goaf backfill, it is special that data can be introduced directly into mine
With software, for calculating goaf volume；Mining design and operation management module, it is true for being obtained by laser scanning
Three-dimensional goaf data；Digital Mine module can obtain the terrain data outside mine.
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| CN112268541A (en) * | 2020-10-16 | 2021-01-26 | 中国有色金属长沙勘察设计研究院有限公司 | Three-dimensional space detection method |
| CN112282847A (en) * | 2020-09-17 | 2021-01-29 | 中煤(天津)地下工程智能研究院有限公司 | Coal mine underground roadway deformation monitoring system and monitoring method thereof |
| CN112378336A (en) * | 2020-11-13 | 2021-02-19 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112282847A (en) * | 2020-09-17 | 2021-01-29 | 中煤(天津)地下工程智能研究院有限公司 | Coal mine underground roadway deformation monitoring system and monitoring method thereof |
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| CN112378336A (en) * | 2020-11-13 | 2021-02-19 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| CN112378336B (en) * | 2020-11-13 | 2023-02-17 | 南通中远海运川崎船舶工程有限公司 | Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof |
| 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 |
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