CN109253717B - Mining area ground surface settlement three-dimensional laser scanning ground surface settlement monitoring and station setting method - Google Patents
Mining area ground surface settlement three-dimensional laser scanning ground surface settlement monitoring and station setting method Download PDFInfo
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- CN109253717B CN109253717B CN201811171882.2A CN201811171882A CN109253717B CN 109253717 B CN109253717 B CN 109253717B CN 201811171882 A CN201811171882 A CN 201811171882A CN 109253717 B CN109253717 B CN 109253717B
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Abstract
The invention discloses a mining area ground surface settlement monitoring point arrangement method based on three-dimensional laser scanning, which belongs to the technical field of mining area ground surface settlement monitoring methods.A plurality of Thiessen polygons are effectively divided in a mining area settlement area by utilizing the characteristic that any position in the Thiessen polygons is separated from a polygon sampling point, then ground surface settlement monitoring points are arranged at the Thiessen polygon sampling points, a monitoring route is planned from the outermost layer to the inner layer according to a certain sequence, a three-dimensional laser scanner is erected on the monitoring points according to the planned route, the point cloud data of a settlement area is periodically obtained, and the ground surface settlement condition of the settlement area is calculated after the ground surface settlement is stable; according to the method, the subsidence area is effectively divided into the plurality of Thiessen polygons, so that the three-dimensional laser scanning data are uniformly distributed, a blind area is avoided, the mining area surface speed extracted by three-dimensional laser scanning and the post point cloud data processing efficiency are effectively improved, the post processing error is reduced, and the problem of monitoring point arrangement after water is accumulated in the subsidence area along with coal seam mining is solved.
Description
Technical Field
The invention relates to the technical field of a mining area ground surface settlement monitoring method, in particular to a mining area ground surface settlement three-dimensional laser scanning ground surface settlement monitoring station setting method.
Background
Mining area underground mining can cause the overburden to break, move and surface subsidence, leads to the building of surface subsidence district to take place to destroy, so need carry out effectual settlement monitoring to mining area surface subsidence district to make corresponding measure and reduce the destruction of surface subsidence to surface building. According to the traditional mining area ground surface subsidence monitoring method, monitoring points with certain density are distributed on main sections of the trend and the trend of a subsidence basin, then elevations and coordinates of the monitoring points at different times are obtained by adopting instrument methods such as a level, a theodolite, a total station and the like, and finally the subsidence and horizontal movement values of the monitoring points are obtained through calculation.
In recent years, with the progress of science and technology, measuring instruments and measuring techniques have been developed, and instruments capable of acquiring observation data in a large area and at a high density, such as a three-dimensional laser scanner, have the advantages of high data acquisition speed, high precision, non-contact performance and the like, and are gradually applied to mining subsidence monitoring in mining areas. However, at present, no method for arranging mining area ground surface settlement monitoring points for three-dimensional laser scanning exists, so that problems occur in the subsequent monitoring and data processing processes. In the existing method for monitoring the subsidence of the mining area by adopting the three-dimensional laser scanner, the three-dimensional laser scanner is not fixed in station setting, the observation sequence of observation stations is not fixed, the positions of the observation stations observed at each period are not fixed, the distance between the observation stations is not fixed, point clouds are difficult to match in the later data processing, and the like. Based on the above, the invention designs a three-dimensional laser scanning ground surface settlement monitoring station setting method for the ground surface settlement of the mining area, so as to solve the problems.
Disclosure of Invention
The invention aims to provide a method for monitoring and setting stations of mine ground surface settlement by three-dimensional laser scanning, which aims to overcome the defects of the prior art in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the method is characterized in that: the method comprises the following specific steps:
the method comprises the steps of firstly, predicting the surface subsidence range caused by face mining according to the position and size of a coal face and geological mining conditions, and extracting the boundary of a subsidence basin;
determining an optimal scanning radius according to scanning parameters of a three-dimensional laser scanner, drawing a regular hexagon from the center of a ground surface sinking range, wherein the optimal scanning radius of the three-dimensional laser scanner is used as the distance from the center of the regular hexagon to an end point, the center of the regular hexagon is the position where the three-dimensional laser scanner is initially arranged, and the regular hexagons are drawn by sequentially expanding outwards from the middle regular hexagon until the regular hexagons can cover all the ground surface sinking ranges;
thirdly, the initial observation station position is adjusted within the range of the regular hexagon by comprehensively considering factors such as the safety, the visibility and the station easiness of station setting in combination with the actual terrain of the subsidence area, so that the optimal observation condition is achieved;
fourthly, establishing a Delaunay triangulation network for the adjusted set station, and generating a Thiessen polygon on the basis;
fifthly, planning a monitoring route from the outermost layer to the inside according to a certain sequence, firstly measuring monitoring points on the outermost layer, erecting the three-dimensional laser scanner, then erecting the three-dimensional laser scanner on the monitoring points in the second circle, and so on until all the monitoring points are monitored;
sixthly, according to the measuring route, regularly erecting the three-dimensional laser scanner on each monitoring point to obtain corresponding three-dimensional point cloud data, then cutting the three-dimensional point cloud within the range of the Thiessen polygon of each station, and splicing the scanning data of all the observation stations to obtain the three-dimensional point cloud data of the surface of the subsidence area, namely the height data of the subsidence area; when surface water accumulation is caused by surface subsidence in the monitoring process, if the position of the observation station is submerged in a water accumulation area, the observation stations are sequentially reduced from inside to outside, the positions of the rest observation stations are not influenced, the observation sequence is not influenced, and the underwater elevation of the water accumulation area can be acquired by adopting a depth finder;
and after the seventh step of stable surface subsidence, calculating the subsidence condition of the coal mining subsidence area by adopting a formula (1) according to the surface elevation data of the subsidence area measured in two adjacent stages:
w(x,y)＝H1(x,y)-H2(x,y) (1)。
preferably, the certain sequence is a clockwise sequence or a counterclockwise sequence.
Preferably, in the formula (1), w (x, y) is a sinking value with a surface coordinate of (x, y), and H1(x,y)、H2And (x, y) is the elevation value of the coordinates (x, y) measured in two adjacent stages.
Compared with the prior art, the invention has the beneficial effects that:
(1) the characteristics of the Thiessen polygons are utilized to effectively divide the subsidence area into a plurality of Thiessen polygons, the scanning range of the three-dimensional laser scanner is more reasonable, the obtained point cloud data are more uniformly distributed, blind areas are avoided, the speed of extracting the earth surface of the mining area by three-dimensional laser scanning and the efficiency of later-stage point cloud data processing are effectively improved, and errors of later-stage processing are reduced;
(2) reasonably planning the subsidence area into a plurality of Thiessen polygons, and effectively controlling the number of monitoring points to be at the minimum;
(3) when the water is accumulated in the subsidence area in the mining process, only the monitoring points need to be properly reduced from inside to outside on the established monitoring route, the change of the original monitoring plan is small, and the problem of the arrangement of the monitoring points after the water is accumulated in the subsidence area along with the coal seam mining is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a diagram of the outer boundary of a predicted earth surface moving basin according to the situation of a working surface.
FIG. 3 is a diagram of the initial standing position of the present invention.
Fig. 4 is a diagram of the present invention adjusting the initial observation station position.
Fig. 5 is a diagram of the generation of Delaunay triangulation and tessene polygons according to the adjusted position of the observation station in accordance with the present invention.
Fig. 6 is a route diagram for planning measurements according to the present invention.
FIG. 7 is a diagram of the position of the post-ponding adjustment observation station of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: the method is characterized in that: the method comprises the following specific steps:
the method comprises the steps of firstly, predicting the surface subsidence range caused by face mining according to the position and size of a coal face and geological mining conditions, and extracting the boundary of a subsidence basin;
determining an optimal scanning radius according to scanning parameters of a three-dimensional laser scanner, drawing a regular hexagon from the center of a ground surface sinking range, wherein the optimal scanning radius of the three-dimensional laser scanner is used as the distance from the center of the regular hexagon to an end point, the center of the regular hexagon is the position where the three-dimensional laser scanner is initially arranged, and the regular hexagons are drawn by sequentially expanding outwards from the middle regular hexagon until the regular hexagons can cover all the ground surface sinking ranges;
thirdly, the initial observation station position is adjusted within the range of the regular hexagon by comprehensively considering factors such as the safety, the visibility and the station easiness of station setting in combination with the actual terrain of the subsidence area, so that the optimal observation condition is achieved;
fourthly, establishing a Delaunay triangulation network for the adjusted set station, and generating a Thiessen polygon on the basis;
fifthly, planning a monitoring route from the outermost layer to the inside according to a certain sequence, firstly measuring monitoring points on the outermost layer, erecting the three-dimensional laser scanner, then erecting the three-dimensional laser scanner on the monitoring points in the second circle, and so on until all the monitoring points are monitored;
sixthly, according to the measuring route, regularly erecting the three-dimensional laser scanner on each monitoring point to obtain corresponding three-dimensional point cloud data, then cutting the three-dimensional point cloud within the range of the Thiessen polygon of each station, and splicing the scanning data of all the observation stations to obtain the three-dimensional point cloud data of the surface of the subsidence area, namely the height data of the subsidence area; when surface water accumulation is caused by surface subsidence in the monitoring process, if the position of the observation station is submerged in a water accumulation area, the observation stations are sequentially reduced from inside to outside, the positions of the rest observation stations are not influenced, the observation sequence is not influenced, and the underwater elevation of the water accumulation area can be acquired by adopting a depth finder;
and after the seventh step of stable surface subsidence, calculating the subsidence condition of the coal mining subsidence area by adopting a formula (1) according to the surface elevation data of the subsidence area measured in two adjacent stages:
w(x,y)＝H1(x,y)-H2(x,y) (1)。
wherein the certain sequence is clockwise sequence or anticlockwise sequence, in the formula (1), w (x, y) is a sinking value with surface coordinates of (x, y), and H1(x,y)、H2And (x, y) is the elevation value of the coordinates (x, y) measured in two adjacent stages.
One specific application of this embodiment is: firstly, predicting the surface subsidence range caused by working face mining according to the position and size of a coal face and geological mining conditions, and extracting the boundary of a subsidence basin; then, firstly, determining an optimal scanning radius according to scanning parameters of a three-dimensional laser scanner, drawing a regular hexagon from the center of a ground surface sinking range, wherein the optimal scanning radius of the three-dimensional laser scanner is used as the distance from the center of the regular hexagon to an end point, the center of the regular hexagon is the position where the three-dimensional laser scanner is initially arranged, and the regular hexagons in the middle are sequentially arrangedDrawing a regular hexagon in an outward expansion mode until the regular hexagon can cover all the ground surface subsidence ranges; the initial observation station position is adjusted within the range of the regular hexagon by comprehensively considering factors such as the safety, the visibility and the station easiness of station establishment in combination with the actual terrain of the subsidence area, so that the optimal observation condition is achieved; then establishing a Delaunay triangulation network for the adjusted set station, and generating a Thiessen polygon on the basis; planning a monitoring route from the outermost layer to the inside according to a certain sequence, firstly measuring monitoring points on the outermost layer, erecting the three-dimensional laser scanner, then erecting the three-dimensional laser scanner on the monitoring points in the second circle, and so on until all the monitoring points are monitored; then, according to the measuring route, regularly erecting the three-dimensional laser scanner on each monitoring point to obtain corresponding three-dimensional point cloud data, then cutting the three-dimensional point cloud within the range of the Thiessen polygon of each station, and splicing the scanning data of all the observation stations to obtain the three-dimensional point cloud data of the surface of the subsidence area, namely the height data of the subsidence area; when surface water accumulation is caused by surface subsidence in the monitoring process, if the position of the observation station is submerged in a water accumulation area, the observation stations are sequentially reduced from inside to outside, the positions of the rest observation stations are not influenced, the observation sequence is not influenced, and the underwater elevation of the water accumulation area can be acquired by adopting a depth finder; and finally, after the ground surface settlement is stable, calculating the settlement condition of the coal mining subsidence area according to the ground surface elevation data of the subsidence area measured in two adjacent periods. The formula w (x, y) ═ H is adopted for calculation1(x,y)-H2(x,y)。
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (2)
1. A mining area ground surface settlement three-dimensional laser scanning ground surface settlement monitoring station setting method is characterized by comprising the following steps: the method comprises the following specific steps:
the method comprises the steps of firstly, predicting the surface subsidence range caused by face mining according to the position and size of a coal face and geological mining conditions, and extracting the boundary of a subsidence basin;
determining an optimal scanning radius according to scanning parameters of a three-dimensional laser scanner, drawing a regular hexagon from the center of a ground surface sinking range, wherein the optimal scanning radius of the three-dimensional laser scanner is used as the distance from the center of the regular hexagon to an end point, the center of the regular hexagon is the position where the three-dimensional laser scanner is initially arranged, and the regular hexagons are drawn by sequentially expanding outwards from the middle regular hexagon until the regular hexagons can cover all the ground surface sinking ranges;
thirdly, the initial observation station position is adjusted within the range of the regular hexagon by comprehensively considering the factors of safety, visibility and easiness in station erection of the station in combination with the actual terrain of the subsidence area, so that the optimal observation condition is achieved;
fourthly, establishing a Delaunay triangulation network for the adjusted set station, and generating a Thiessen polygon on the basis;
fifthly, planning a monitoring route from the outermost layer to the inside according to a certain sequence, firstly measuring monitoring points on the outermost layer, erecting the three-dimensional laser scanner, then erecting the three-dimensional laser scanner on the monitoring points in the second circle, and so on until all the monitoring points are monitored;
sixthly, according to the monitoring route, regularly erecting the three-dimensional laser scanner on each monitoring point to obtain corresponding three-dimensional point cloud data, then cutting the three-dimensional point cloud within the range of the Thiessen polygon of each station, and splicing the scanning data of all the observation stations to obtain the three-dimensional point cloud data of the surface of the subsidence area, namely the height data of the subsidence area; when surface water accumulation is caused by surface subsidence in the monitoring process, if the position of the observation station is submerged in a water accumulation area, the observation stations are sequentially reduced from inside to outside, the positions of the rest observation stations are not influenced, the observation sequence is not influenced, and the underwater elevation of the water accumulation area can be acquired by adopting a depth finder;
and after the seventh step of stable surface subsidence, calculating the subsidence condition of the coal mining subsidence area by adopting a formula (1) according to the surface elevation data of the subsidence area measured in two adjacent stages:
w(x,y)＝H1(x,y)-H2(x,y)
in the above formula, w (x, y) is the sinking value of (x, y) as the earth surface coordinate, H1(x,y)、H2And (x, y) is the elevation value of the coordinates (x, y) measured in two adjacent stages.
2. The mining area ground surface settlement three-dimensional laser scanning ground surface settlement monitoring station setting method according to claim 1, characterized in that: the certain sequence is a clockwise sequence or a counterclockwise sequence.
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