CN109115176B - Movable three-dimensional laser scanning system - Google Patents
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- CN109115176B CN109115176B CN201811034112.3A CN201811034112A CN109115176B CN 109115176 B CN109115176 B CN 109115176B CN 201811034112 A CN201811034112 A CN 201811034112A CN 109115176 B CN109115176 B CN 109115176B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a mobile three-dimensional laser scanning system, which comprises a data acquisition unit, wherein the data acquisition unit plans a walking path by combining absolute coordinate control points according to the actual condition of a measuring area, so that repeated scanning is avoided; scanning the roadway to obtain high-quality point cloud data; the GeoSLAM ZEB-REVO RT handheld SLAM mobile laser scanning system is used for performing roadway scanning, common android equipment, apple equipment and WIN equipment can be connected with WIFI emitted by ZEB REVO and controlled to finally obtain data.
Description
Technical Field
The invention relates to the field of underground mining, in particular to a mobile three-dimensional laser scanning system.
Background
The goaf is a 'cavity' generated below the ground surface by artificial excavation or natural geological motion, the existence of the goaf causes great safety problems in the safety production of mines, and personnel and mechanical equipment can fall into the goaf and be damaged.
A large number of goaf potential safety hazards formed by underground mining cannot meet the requirements of mines on goaf management and hidden danger treatment by using common measurement methods. Along with the deep mining of the mine, the ground pressure is increased, and the underground dead zone is easily collapsed under strong ground pressure, so that the mine which is converted from underground to open-pit mining is greatly influenced; a large amount of stopes, chambers and roadways remained in underground mining are not processed in time, so that serious hidden dangers are brought to surface mining, and meanwhile, serious threats are brought to mine workers and equipment; the method has the advantages that three-dimensional data such as spatial position, form, deformation observation, volume and the like of the goaf are accurately surveyed, the underground goaf is managed by scientific subjects, and the safety production is effectively improved.
Because the underground goaf has the characteristics of strong invisibility, poor regularity of spatial distribution characteristics, difficulty in predicting caving and collapsing conditions of a top plate of the goaf and the like, how to quantitatively judge the distribution range, the spatial form characteristics, the caving conditions of the goaf and the like of the underground goaf is always a key technical problem which troubles engineering technicians to evaluate the potential hazard of the goaf and reasonably determine a goaf treatment strategy.
Traditional survey and drawing reconnaissance means carries out single-point type and spot check formula's measurement, loses critical data information very easily, and these critical technological problems will be solved to neotype reconnaissance technological means, provide scientific foundation for the safety in production in collecting space area, the reliability of security evaluation to and the rationality of treatment scheme.
Disclosure of Invention
In order to solve the defects, the invention provides a mobile three-dimensional laser scanning system, and the invention is a brand new measurement technology, breaks through the traditional single-point measurement method, has the unique advantages of high efficiency and high precision, and can provide three-dimensional point cloud data of the surface of a scanned object, thereby being used for obtaining a digital model with high precision and high resolution.
The invention provides a mobile three-dimensional laser scanning system, which comprises a data acquisition unit, wherein the data acquisition unit plans a walking path by combining absolute coordinate control points according to the actual condition of a measuring area, so that repeated scanning is avoided; scanning the roadway to obtain high-quality point cloud data; the GeoSLAM ZEB-REVO RT handheld SLAM mobile laser scanning system is used for performing roadway scanning, and common android equipment, apple equipment and WIN equipment can be connected with WIFI emitted by the ZEB REVO and controlled to finally obtain data; the data processing and analyzing module collects data of the goaf in a forward moving mode based on the data collecting unit, a 360-degree spherical scanning area is formed right in front of the equipment, so that the data of the goaf are completely obtained, and then the data of the goaf are processed.
The mobile three-dimensional laser scanning system further comprises a goaf data application module, wherein the goaf data application module is used for calculating the volume of the goaf, can be used for production acceptance inspection, backfills the goaf, and directly guides data into special mine software for calculating the volume of the goaf.
The movable three-dimensional laser scanning system further comprises a goaf safety monitoring and evaluating module, and is used for comparing goaf data in multiple periods, analyzing deformation of the goaf, positioning dangerous rock masses, judging the mine safety, geology, production and other departments, and safely disposing to effectively avoid geological disasters.
The mobile three-dimensional laser scanning system further comprises a mining design and operation management module, and the mining design and operation management module is used for obtaining real three-dimensional goaf data by means of laser scanning.
The mobile three-dimensional laser scanning system further comprises a digital mine module, and topographic data outside the mine can be acquired.
The invention has the following beneficial effects: 1. the invention is a brand new measurement technology, breaks through the traditional single-point measurement method, has the unique advantages of high efficiency and high precision, and the three-dimensional laser scanning technology can provide three-dimensional point cloud data of the surface of a scanned object, so that the method can be used for obtaining a high-precision high-resolution digital model.
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The invention and its features, aspects and advantages will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a block diagram of a mobile three-dimensional laser scanning system according to the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
Referring to fig. 1, the invention provides a mobile three-dimensional laser scanning system, which comprises a data acquisition unit, wherein the data acquisition unit plans a walking path by combining an absolute coordinate control point according to the actual situation of a measurement area, and avoids repeated scanning; scanning the roadway to obtain high-quality point cloud data; the GeoSLAM ZEB-REVO RT handheld SLAM mobile laser scanning system is used for performing roadway scanning, and common android equipment, apple equipment and WIN equipment can be connected with WIFI emitted by the ZEB REVO and controlled to finally obtain data; the data processing and analyzing module collects data of the goaf in a forward moving mode based on the data collecting unit, a 360-degree spherical scanning area is formed right in front of the equipment, so that the data of the goaf are completely obtained, and then the data of the goaf are processed.
In a preferred but non-limiting embodiment of the present invention, the goaf data application module is further included, and is used for goaf volume calculation, which can be used for production acceptance, goaf backfill, and data can be directly imported into mine dedicated software for calculating the goaf volume.
In a preferred but non-limiting embodiment of the present invention, the goaf safety monitoring and evaluating module is further included, and is configured to compare data of multiple periods of the goaf, analyze deformation of the goaf, locate the position and volume of dangerous rock, assist departments of mine safety, geology, production, and the like to make a judgment, and perform safe disposal to effectively avoid geological disasters.
In a preferred but non-limiting embodiment of the present invention, the system further comprises a mining design and operation management module for acquiring real three-dimensional goaf data by means of laser scanning.
In a preferred but non-limiting embodiment of the invention, a digital mine module is also included that can acquire topographical data external to the mine.
In the invention, the three-dimensional laser scanning technology is also called as a live-action replication technology, is a brand-new measurement technology, breaks through the traditional single-point measurement method, has the unique advantages of high efficiency and high precision, and can provide three-dimensional point cloud data of the surface of a scanned object, thereby being used for obtaining a high-precision and high-resolution digital model.
In the invention, the SLAM three-dimensional laser scanning system has the greatest application of real-time mobile measurement and rapid goaf data acquisition, and mainly depends on an SLAM algorithm. The SLAM three-dimensional laser scanning system consists of: the system comprises three main elements, namely a Laser Scanner (Laser Scanner), an Inertial Measurement Unit (IMU) and a SLAM algorithm (singular localization and mapping).
In the invention, the SLAM algorithm is the most important of the three main elements, the quality of the SLAM algorithm determines the accuracy of the calculated movement track, and the accuracy of the movement track determines the accuracy of the three-dimensional data of the space scene. And the SLAM algorithm carries out real-time calculation on the moving distance and angle information of the equipment from the starting point according to the common characteristic point on the time axis in the three-dimensional data obtained by the laser range finder and the attitude data obtained by the IMU, and reversely constructs continuous space scene data. Namely, the continuous spatial data is passively calculated in real time according to the data of the current surrounding scene.
In the invention, through a large number of project experiments, a handheld SLAM mobile laser scanning system, GeoSLAM ZEB-REVO RT, is used, and the equipment has the following characteristics: the device is applicable to various environments, especially complex and enclosed spaces, without the need for GNSS. The flexible interface and placement allows the ZEB-REVO to be hand-held, mounted on a drone, robot, or mounted on a pole to access the hole. The weight is only 1kg, the multi-layer space can be scanned by holding the device by hand, and the device can be tested in a severe environment based on the highest protection level of IP 64; ZEB-REVO possesses built-in WIFI module, and this equipment WIFI of smart mobile phone or dull and stereotyped connection can be through webpage entering control interface, and the real-time scanning point cloud that shows scans the orbit in real time, and data can directly be downloaded through WIFI, and easy operation is swift. As long as a few minutes of training, anyone can operate the ZEB-REVO, measure the point rate up to 43000 points/second, and generate 3D BIM model rapidly. The traditional method obtains and models complex environment data with ten times of efficiency, and finishes projects in the shortest time without interruption. Compared with the traditional measuring mode or a static scanner, the speed is higher, and the measuring time is greatly saved. ZEB-REVO is also a powerful supplement of the existing scanning hardware, and the ZEB-REVO is combined with the existing scanning hardware, so that the operation is more efficient.
According to the invention, a walking path is planned by combining absolute coordinate control points according to the actual conditions of a measuring area, so that repeated scanning is avoided; and scanning the roadway to obtain high-quality point cloud data.
The GeoSLAM ZEB-REVO RT handheld SLAM mobile laser scanning system is used for roadway scanning, common android equipment, apple equipment and WIN equipment can be connected with WIFI emitted by the ZEB REVO, and the WIFI is controlled to finally obtain data. The data of the goaf are collected in a forward moving mode, a 360-degree spherical scanning area is formed right in front of the equipment, and therefore the data of the goaf are completely obtained.
Referring to Table 1, laser scanning has several advantages over conventional acceptance methods
TABLE 1
The invention utilizes the three-dimensional laser measurement technology to provide data support for stope volume calculation, ore mining amount verification and goaf backfill. Through practical verification, the inspection and acceptance requirements can be completely met. For the areas where the personnel are difficult to enter or are dangerous, the remote safe and quick acceptance check can be realized, and the data is accurate and reliable.
According to the method, the position and the volume of dangerous rock masses can be rapidly positioned by comparing data of the goaf in multiple stages and analyzing the deformation of the goaf, the departments of mine safety, geology, production and the like can be assisted to make judgment, the safe treatment is carried out, the occurrence of geological disasters is effectively avoided, and the goaf safety monitoring and evaluation are realized.
According to the method, the real three-dimensional goaf data acquired by laser scanning is used, so that a place where a two-dimensional drawing or a simulated goaf model wrongly describes the real goaf is avoided, and the mining design and operation and maintenance management are realized by using the real three-dimensional goaf model as the integrated work of mining design, backfilling, monitoring, management and the like.
In the invention, with the continuous improvement of safety indexes and the attention paid to goaf survey and treatment in China, a single underground information system cannot meet the requirement of information-based construction, but a virtual mine model established by the conventional surveying and mapping technology cannot completely reflect the original appearance of a real mine, and cannot meet the requirements of automatic mining and intelligent mining. The unmanned aerial vehicle laser radar system can acquire topographic data outside the mine, and the SLAM laser radar system acquires data inside the mine, and the two are combined to build a real digital mine system to realize digital mine.
In the invention, the safety problem of the goaf of the mine is increasingly highlighted along with the mining of the mine. If the treatment is not proper, the method can affect a plurality of aspects such as production operation, backfill treatment, safety control and the like,
the novel laser measurement technology can safely, efficiently and accurately acquire data and three-dimensional form of the dead zone, can measure required distance and calculate sectional area, volume and the like, can analyze and judge the current situation and treatment, guarantees safe production of mines, and scientifically and effectively analyzes and manages the dead zone.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (1)
1. A mobile three-dimensional laser scanning system, comprising: the data acquisition unit plans a walking path by combining the absolute coordinate control points according to the actual conditions of the measuring area and avoids repeated scanning; scanning the roadway to obtain high-quality point cloud data;
the GeoSLAM ZEB-REVO RT handheld SLAM mobile laser scanning system is used for performing roadway scanning, and common android equipment, apple equipment and WIN equipment can be connected with WIFI (wireless fidelity) transmitted by ZEBREVO and controlled to finally obtain data; the data processing and analyzing module collects data of the goaf in a forward moving mode based on the data collecting unit, a 360-degree spherical scanning area is formed right in front of the data collecting unit, so that the data of the goaf are completely obtained, and then the data of the goaf are processed; the goaf data application module is used for calculating the goaf volume, can be used for production acceptance inspection and goaf backfilling, and data can be directly guided into special mine software and used for calculating the goaf volume; the goaf safety monitoring and evaluating module is used for comparing data of multiple periods of goafs and analyzing deformation of the goafs, can position and volume of dangerous rock masses, can assist mine safety, geology and production departments in judging, can perform safe disposal, and effectively avoids geological disasters; the mining design and operation and maintenance management module is used for avoiding a place where a two-dimensional drawing or a simulated goaf model wrongly describes the real goaf by depending on real three-dimensional goaf data acquired by laser scanning, and realizing the mining design and operation and maintenance management by using the real three-dimensional goaf model as the integrated work of mining design, backfilling, monitoring and management; the mine monitoring system further comprises a digital mine module, and topographic data outside the mine can be obtained.
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| CN110375712B (en) * | 2019-07-12 | 2022-03-01 | 中南大学 | Roadway section extraction method, device, equipment and storage medium |
| CN113607051B (en) * | 2021-07-24 | 2023-12-12 | 全图通位置网络有限公司 | Acquisition method, system and storage medium of non-exposure space digital data |
| CN114155245B (en) * | 2022-02-10 | 2022-05-03 | 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 |
| 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 |
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