CN109115176A - A kind of three-dimensional laser scanning system of movable type - Google Patents
A kind of three-dimensional laser scanning system of movable type Download PDFInfo
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- CN109115176A CN109115176A CN201811034112.3A CN201811034112A CN109115176A CN 109115176 A CN109115176 A CN 109115176A CN 201811034112 A CN201811034112 A CN 201811034112A CN 109115176 A CN109115176 A CN 109115176A
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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
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Abstract
The present invention provides a kind of three-dimensional laser scanning system of movable type, including data acquisition unit, the data acquisition unit, in conjunction with absolute coordinate control point, plans walking path, avoids multiple scanning according to area's actual conditions are surveyed；Tunnel is scanned, high quality point cloud data is obtained；GeoSLAM ZEB-REVO RT hand-held SLAM moves laser scanning system, the mobile laser scanning system of the GeoSLAM ZEB-REVO RT hand-held SLAM is for carrying out roadway scanning, common Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and it controls, finally obtain data, 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 it 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 a kind of three-dimensional laser scanning system of movable type.
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 three-dimensional laser scanning system of movable type, this hairs
Bright 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 three-dimensional laser scanning system of movable type, 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-REVORT 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 three-dimensional laser scanning system of above-mentioned a kind of movable type, wherein further include goaf data application module, be used for
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 three-dimensional laser scanning system of above-mentioned a kind of movable type, wherein further include goaf safety monitoring and evaluation mould
Block analyzes the deformation in goaf for comparing by the goaf data of more phases, can position the position of Dangerous Rock Body, volume,
The departments such as mine safety, geology, production can be assisted to judge, carry out the generation that safe disposition effectively avoids geological disaster.
A kind of three-dimensional laser scanning system of above-mentioned movable type, wherein it further include mining design and operation management module,
True three-dimensional goaf data for being obtained by laser scanning.
The three-dimensional laser scanning system of above-mentioned a kind of movable type, wherein further include Digital Mine module, mine can be obtained
Terrain data outside mountain.
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 module map of the three-dimensional laser scanning system of movable type provided by the invention.
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 three-dimensional laser scanning system of movable type, including data acquisition are single
Member, the data acquisition unit, in conjunction with absolute coordinate control point, plan walking path, avoid repeating according to area's actual conditions are surveyed
Scanning；Tunnel is scanned, high quality point cloud data is obtained；GeoSLAM ZEB-REVO RT hand-held SLAM moves laser
Scanning system, the mobile laser scanning system of the GeoSLAM ZEB-REVO RT hand-held SLAM are general for carrying out roadway scanning
Logical Android device, apple equipment, WIN equipment can connect the WIFI that ZEB REVO is emitted, and control, and finally obtain data；
Data Management Analysis module, the Data Management Analysis module based on the data adopted by way of forward movement by acquisition unit
Collect the data in goaf, will form 360 ° of spherical scanning region immediately ahead of equipment, to completely obtain the number in goaf
According to then handling above-mentioned goaf data.
Further include goaf data application module in a preferred but unrestricted embodiment of the invention, is used for goaf
Volume calculating 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 module, be used for
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.
Further include mining design and operation management module in an of the invention preferred but unrestricted embodiment, be used for according to
The true three-dimensional goaf data obtained by laser scanning.
In a preferred but unrestricted embodiment of the invention, further includes Digital Mine module, can obtain outside mine
Terrain data.
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 (5)
1. a kind of three-dimensional laser scanning system of movable type, which is characterized in that including data acquisition unit, the data acquisition is single
Member, in conjunction with absolute coordinate control point, plans walking path, avoids multiple scanning according to area's actual conditions are surveyed；Tunnel is swept
It retouches, 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.
2. a kind of three-dimensional laser scanning system of movable type as described in claim 1, which is characterized in that further include goaf number
According to application module, it can be used for producing examination for the calculating of goaf volume, goaf backfill, it is dedicated that data can be introduced directly into mine
Software, for calculating goaf volume.
3. a kind of three-dimensional laser scanning system of movable type as described in claim 1, which is characterized in that further include goaf peace
Full monitoring and evaluation module analyze the deformation in goaf, can position crag for being compared by the goaf data of more phases
The position of body, volume can assist the departments such as mine safety, geology, production to judge, and carry out safe disposition and effectively avoid ground
The generation of matter disaster.
4. a kind of three-dimensional laser scanning system of movable type as described in claim 1, which is characterized in that further include mining design
With operation management module, the true three-dimensional goaf data obtained for dependence laser scanning.
5. a kind of three-dimensional laser scanning system of movable type as described in claim 1, which is characterized in that further include digitlization mine
Mountain module can obtain the terrain data outside mine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811034112.3A CN109115176B (en) | 2018-09-05 | 2018-09-05 | Movable three-dimensional laser scanning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811034112.3A CN109115176B (en) | 2018-09-05 | 2018-09-05 | Movable three-dimensional laser scanning system |
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| CN109115176B CN109115176B (en) | 2021-07-06 |
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Cited By (4)
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| CN110375712A (en) * | 2019-07-12 | 2019-10-25 | 中南大学 | Drift section extracting method, device, equipment and storage medium |
| CN113607051A (en) * | 2021-07-24 | 2021-11-05 | 全图通位置网络有限公司 | Acquisition method, system and storage medium for digital data of non-exposed space |
| CN114155245A (en) * | 2022-02-10 | 2022-03-08 | 中煤科工开采研究院有限公司 | Surrounding rock deformation monitoring method and device based on three-dimensional point cloud under coal mine |
| 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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| CN109115176B (en) | 2021-07-06 |
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