CN111980751A - Portable mining roadway multi-source sensor scanning device and construction method - Google Patents
Portable mining roadway multi-source sensor scanning device and construction method Download PDFInfo
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- CN111980751A CN111980751A CN202010750712.0A CN202010750712A CN111980751A CN 111980751 A CN111980751 A CN 111980751A CN 202010750712 A CN202010750712 A CN 202010750712A CN 111980751 A CN111980751 A CN 111980751A
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- 238000005065 mining Methods 0.000 title claims abstract description 17
- 238000010276 construction Methods 0.000 title claims abstract description 16
- 230000002452 interceptive effect Effects 0.000 claims abstract description 24
- 239000003245 coal Substances 0.000 claims abstract description 10
- 230000004927 fusion Effects 0.000 claims abstract description 4
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 239000000565 sealant Substances 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 5
- 229910052987 metal hydride Inorganic materials 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 229920000515 polycarbonate Polymers 0.000 claims description 3
- 239000004417 polycarbonate Substances 0.000 claims description 3
- 239000011435 rock Substances 0.000 claims description 3
- 239000002344 surface layer Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052739 hydrogen Inorganic materials 0.000 description 2
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- 210000001367 artery Anatomy 0.000 description 1
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- 230000005641 tunneling Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention provides a mining portable roadway multi-source sensor scanning device and a construction method, wherein the device comprises an outer shell and an acquisition control circuit; the acquisition control circuit comprises a power supply unit, a sensor unit, an industrial control computer unit and an interactive display unit; the sensor unit comprises a three-dimensional laser radar, a panoramic camera and an MEMS gyroscope, and high-precision point cloud data are acquired after fusion of the multi-source sensor; the industrial control computer unit is used for controlling the data acquisition and processing of the sensor unit and realizing input and display interaction with the interactive display unit; the interactive display unit is used for realizing parameter input and displaying the processing result of the industrial control computer unit. The method can complete rapid tunnel scanning under the complex working condition environment of the underground coal mine and provide data support for high-precision geological model construction, and has the characteristics of high precision, strong reliability, good adaptability and the like.
Description
Technical Field
The invention belongs to the field of coal field geological exploration instruments, and particularly relates to a portable roadway multi-source sensor scanning device for a mine and a construction method, which can be used for quickly scanning underground roadways of coal mines and providing data support for high-precision geological model construction.
Background
The coal mine tunnel is an artery of mine production, is responsible for tasks such as underground excavation, transportation, ventilation, drainage and the like, directly influences the economic benefit and production safety of coal mine production, establishes a true three-dimensional tunnel model, and has important significance for guiding mine exploitation design plan, engineering construction, safety rescue and the like.
The core link of the three-dimensional modeling and reconstruction of the roadway is basic data, the basis is derived from roadway measurement, the central line and the waist line of the roadway can be calibrated according to mine excavation measurement data, the space trend and the distribution of the roadway are determined, real roadway section data are obtained, and the three-dimensional model of the roadway is reconstructed on the ground after the measurement is finished. In the roadway, particularly large-scale excavating equipment in a fully mechanized mining face or a tunneling working face is erected, and the real working conditions in the roadway are difficult to directly, completely and accurately feel due to the fluctuation of the terrain.
In the known technology, the traditional manual roadway measurement and modeling mode has the defects of difficult measurement data acquisition, long modeling period, low model precision and the like; most of wheeled mobile robot platforms adopt an integrated structural design, and have the defects of difficulty in self navigation, incomplete data acquisition information, difficulty in point cloud data splicing and the like in roadways with complex working conditions; the flexible rail type mobile robot platform is only provided with incomplete data information collected by a laser radar, an inertia measurement unit, a speedometer and the like, is inconvenient to install and maintain, can only move in a fixed area, and is difficult to meet the requirements of people.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a portable mining roadway multi-source sensor scanning device and a construction method, so that the construction is simple and convenient and the device is suitable for complex working condition environments.
In order to achieve the purpose, the invention adopts the following technical scheme:
a portable mining roadway multi-source sensor scanning device comprises an outer shell and an acquisition control circuit, wherein each part of the acquisition control circuit is respectively arranged in the outer shell and on the wall surface of the outer shell, so that the inner cavity of the outer shell is a sealed cavity;
the acquisition control circuit comprises a power supply unit, a sensor unit, an industrial control computer unit and an interactive display unit; the sensor unit, the industrial control computer unit and the interactive display unit are respectively connected with the power supply unit; the sensor unit and the interactive display unit are respectively connected with an industrial control computer unit, the sensor unit acquires high-precision point cloud data after multi-source sensor fusion, and the industrial control computer unit is used for controlling the acquisition and processing of the data of the sensor unit and realizing input and display interaction with the interactive display unit; the interactive display unit is used for realizing parameter input and displaying the processing result of the industrial control computer unit;
the sensor unit comprises a three-dimensional laser radar, a panoramic camera and an MEMS gyroscope, and the position relation between the three-dimensional laser radar and the panoramic camera is calibrated in a mode of marking a target plate based on a two-dimensional checkerboard; the industrial control computer unit comprises a single-board computer and an SSD hard disk; the interactive display unit comprises an LCD display screen, an SD card socket and an integrated three-proofing touch pad mouse;
an opening is formed in the upper wall of the outer shell, and a hemispherical transparent cover is hermetically covered at the opening and serves as a light-transmitting window of the three-dimensional laser radar and the panoramic camera; a power supply digital display window, a display screen mounting port and a touch pad mouse mounting port are sequentially arranged on the front wall of the outer shell from top to bottom, a left mouse button mounting port and a right mouse button mounting port are arranged below the touch pad mouse mounting port, and a power supply switch button and a display screen switch button are arranged below the touch pad mouse mounting port; an SD card socket mounting port and a charging socket mounting port are formed in the side wall of the outer shell, and side cover plates are arranged on the SD card socket mounting port and the charging socket mounting port.
The invention also comprises the following technical characteristics:
specifically, the SSD hard disk is mounted on and connected to the single board computer; the touch pad mouse, the display screen and the SD card socket are respectively connected with a single-board computer;
and the three-dimensional laser radar, the panoramic camera and the MEMS gyroscope are respectively connected with the single-board computer.
Specifically, the power supply unit comprises a nickel-metal hydride battery pack and a protection circuit, wherein the nickel-metal hydride battery pack is connected with the protection circuit and used for supplying power to the sensor unit, the industrial control computer unit and the interactive display unit and receiving charging of an external power supply.
Specifically, the outer shell is made of PVC material, the surface layer of the outer shell is coated with insulating paint, and the outer shell is of a cuboid structure; the transparent cover is made of polycarbonate materials, is fixed on the upper wall of the outer shell through screw holes and is subjected to double waterproof treatment through a silica gel pad of a contact surface and sealant at a gap to serve as a light-transmitting window of the multi-line laser radar and the panoramic camera;
the power supply digital display window is embedded into the outer shell, displayed on the surface of the outer shell and waterproof through a sealant;
the display screen mounting port is used for mounting a display screen, and is provided with a transparent PVC plate which is adhered and embedded into the display screen mounting port;
the touch pad mouse mounting port is used for mounting a touch pad mouse, the touch pad mouse is fixed on the outer shell through an internal screw hole and is subjected to double waterproof treatment through a silica gel pad of the contact surface and sealant at a gap;
the power switch button and the display screen switch button are subjected to waterproof treatment by adopting a waterproof metal button switch with threads through a sealing ring and a sealant at a gap;
the side cover plate is fixed on the outer shell through threads and is subjected to waterproof treatment through an internal gasket;
the SD card socket mounting port is used for mounting an SD card socket, and the SD card socket is fixed in the SD card socket mounting port covered by the side cover plate by adopting a screw and is sealed by sealant; the charging socket mounting port is used for mounting a charging socket, and the charging socket adopts a waterproof multi-core self-locking connector with threads to perform waterproof treatment through a sealing ring and sealant at a gap.
Specifically, the position relationship between the three-dimensional laser radar and the panoramic camera is calibrated in a mode of marking a target plate based on a two-dimensional checkerboard, and the method comprises the following specific steps:
(1) firstly, collecting data of 15 marking target plates by using a three-dimensional laser radar and a panoramic camera;
(2) respectively searching corresponding plane equations of the mark target plate in the three-dimensional laser radar and the panoramic camera, and inputting the collected data of the mark target plate into the plane equations;
(3) solving a plane equation to obtain position equations of the two sensors according to set constraint conditions to obtain a position relation;
(4) normalizing the obtained position relation to the same coordinate system.
Specifically, the power supply unit is installed in a power supply bin, and the power supply bin is sealed by glue filling and is fixed in the outer shell through screws.
Specifically, all parts of the acquisition control circuit are arranged on the acquisition control circuit board support and then are fixed in the outer shell through screws.
The invention also provides a construction method of the portable mining roadway multi-source sensor scanning device, which comprises the following steps:
(1) arranging a special target ball on the coal bed rock wall of the roadway to be measured at intervals of 20 meters, and measuring the geographic coordinates of the center of the target ball by adopting a high-precision explosion-proof total station;
(2) placing the scanning device of claim 1 on a central line of a roadway to be detected, measuring and recording geographic coordinates of the position of the scanning device by using a high-precision explosion-proof total station;
(3) after the scanning device is started, the geographic coordinate of the position of the integrated three-prevention touch pad mouse input device is adopted in an initialization interface, the fact that the scanning device collects software to automatically calibrate an instrument coordinate system to a geographic coordinate system is determined, counting down is started, and a sensor unit is started after 3 minutes (the north seeking time of an MEMS gyroscope is 3 minutes);
(4) carrying a scanning device to pass through a detected roadway at a constant speed (about 1 step and a half per second) at a normal walking speed, and automatically storing measured point cloud data and images into an SD card of an SD card socket at a set frequency;
(5) after the roadway measurement is completed, the scanning device is carried to the ground and the SD card is taken out, so that the data can be exported for high-precision geological model construction.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention adopts a working mode of combining the three-dimensional laser radar and the panoramic camera, overcomes the defects that three-dimensional point cloud is sparse and only has distance information, and the panoramic camera only has color information but not depth information, and can obtain ideal color point cloud data after the three-dimensional point cloud and the panoramic camera are fused.
The invention adopts a working mode of combining the three-dimensional laser radar, the panoramic camera and the MEMS gyroscope and overcomes the problem of low efficiency caused by point cloud splicing in a GNSS-free environment under a coal mine by means of a special target ball in a roadway.
The portable design of the invention overcomes the defects of inconvenient walking of the inspection robot in a complex tunnel and short coverage distance of the flexible track robot.
The method can complete rapid tunnel scanning under the complex working condition environment of the underground coal mine and provide data support for high-precision geological model construction, and has the characteristics of high precision, strong reliability, good adaptability and the like.
Drawings
FIG. 1 is a schematic structural diagram of an outer casing according to the present invention;
FIG. 2 is a block diagram of the acquisition control circuit of the present invention;
reference signs mean: 1-transparent cover, 2-power digital display window, 3-display screen installation port, 4-touch pad mouse installation port, 5-mouse left key installation port, 6-mouse right key installation port, 7-power switch button, 8-display screen switch button, 9-SD card socket installation port, 10-charging socket installation port and 11-side cover plate.
The invention is described in detail below with reference to the drawings and the detailed description.
Detailed Description
The invention provides a portable mining roadway multisource sensor scanning device which comprises an outer shell and an acquisition control circuit, wherein all parts of the acquisition control circuit are respectively installed in the outer shell and on the wall surface of the outer shell, so that the inner cavity of the outer shell is a sealed cavity.
The acquisition control circuit comprises a power supply unit, a sensor unit, an industrial control computer unit and an interactive display unit; the sensor unit, the industrial control computer unit and the interactive display unit are respectively connected with the power supply unit; the sensor unit and the interactive display unit are respectively connected with an industrial control computer unit, the sensor unit acquires high-precision point cloud data after multi-source sensor fusion, and the industrial control computer unit is used for controlling the acquisition and processing of the data of the sensor unit and realizing input and display interaction with the interactive display unit; the interactive display unit is used for realizing parameter input and displaying the processing result of the industrial control computer unit;
the sensor unit comprises a three-dimensional laser radar, a panoramic camera and an MEMS gyroscope, and the position relation between the three-dimensional laser radar and the panoramic camera is calibrated in a mode of marking a target plate based on a two-dimensional checkerboard; the industrial control computer unit comprises a single-board computer and an SSD hard disk; the interactive display unit comprises a 7-inch LCD display screen, an SD card socket and an integrated three-proofing touch pad mouse;
an opening is formed in the upper wall of the outer shell, and a hemispherical transparent cover 1 is hermetically covered at the opening and serves as a light-transmitting window of the three-dimensional laser radar and the panoramic camera; a power supply digital display window 2, a display screen mounting port 3 and a touch pad mouse mounting port 4 are sequentially arranged on the front wall of the outer shell from top to bottom, a left mouse button mounting port 5 and a right mouse button mounting port 6 are arranged below the touch pad mouse mounting port 4, and a power supply switch button 7 and a display screen switch button 8 are arranged below the touch pad mouse mounting port 4; an SD card socket mounting port 9 and a charging socket mounting port 10 are provided on the side wall of the outer case, and a side cover plate 11 is provided on the SD card socket mounting port 9 and the charging socket mounting port 10.
The SSD hard disk is installed on the single board computer and is connected with the single board computer; the touch pad mouse, the display screen and the SD card socket are respectively connected with the single-board computer; the three-dimensional laser radar, the panoramic camera and the MEMS gyroscope are respectively connected with the single-board computer.
The power supply unit comprises a nickel-hydrogen battery pack and a protection circuit, wherein the nickel-hydrogen battery pack is connected with the protection circuit and used for supplying power to the sensor unit, the industrial control computer unit and the interactive display unit and receiving charging of an external power supply.
The outer shell is made of PVC material, the surface layer of the outer shell is coated with insulating paint, and the outer shell is of a cuboid structure; the transparent cover 1 is made of polycarbonate materials, the transparent cover 1 is fixed on the upper wall of the outer shell through screw holes and is subjected to double waterproof treatment through a silica gel pad of a contact surface and sealant at a gap to be used as a light-transmitting window of the multi-line laser radar and the panoramic camera; the power supply digital display window 2 is embedded from the inside of the outer shell, displayed on the surface of the outer shell and is waterproof through sealant; the display screen mounting port 3 is used for mounting a display screen, and is provided with a transparent PVC plate which is adhered and embedded into the display screen mounting port 3; the touch pad mouse mounting port 4 is used for mounting a touch pad mouse, the touch pad mouse is fixed on the outer shell through an internal screw hole and is subjected to double waterproof treatment through a silica gel pad of a contact surface and sealant at a gap; the power switch button 7 and the display screen switch button 8 adopt a waterproof metal button switch with threads to carry out waterproof treatment through a sealing ring and a sealant at a gap; the side cover plate 11 is fixed on the outer shell by screw threads and is subjected to waterproof treatment through an internal gasket; the SD card socket mounting port 9 is used for mounting an SD card socket, and the SD card socket is fixed in the SD card socket mounting port covered by the side cover plate by adopting a screw and sealed by sealant; the charging socket mounting port 10 is used for mounting a charging socket, and the charging socket adopts a waterproof multi-core self-locking connector with threads to carry out waterproof treatment through a sealing ring and sealing glue at a gap.
The position relation between the three-dimensional laser radar and the panoramic camera is calibrated in a mode of marking a target plate based on a two-dimensional checkerboard, and the method comprises the following specific steps:
1) firstly, collecting data of 15 marking target plates by using a three-dimensional laser radar and a panoramic camera;
2) respectively searching corresponding plane equations of the mark target plate in the three-dimensional laser radar and the panoramic camera, and inputting the collected data of the mark target plate into the plane equations;
3) solving a plane equation to obtain position equations of the two sensors according to set constraint conditions to obtain a position relation;
4) normalizing the obtained position relation to the same coordinate system.
The power supply unit is arranged in the power supply bin, and the power supply bin is sealed by glue filling and is fixed in the outer shell through screws.
All parts of the acquisition control circuit are arranged on the acquisition control circuit board bracket and then are fixed in the outer shell through screws.
The invention also provides a construction method of the portable mining roadway multi-source sensor scanning device, which comprises the following steps:
1) arranging a special target ball on the coal bed rock wall of the roadway to be measured at intervals of 20 meters, and measuring the geographic coordinates of the center of the target ball by adopting a high-precision explosion-proof total station;
2) placing the scanning device of claim 1 on the center line of a roadway to be detected, measuring and recording the geographic coordinates of the position of the scanning device by using a high-precision explosion-proof total station;
3) after the scanning device is started, the geographic coordinate of the position of the integrated three-prevention touch pad mouse input device is adopted in an initialization interface, the fact that the scanning device collects software to automatically calibrate an instrument coordinate system to a geographic coordinate system is determined, counting down is started, and a sensor unit is started after 3 minutes (the north seeking time of an MEMS gyroscope is 3 minutes);
4) carrying a scanning device to pass through a detected roadway at a constant speed (about 1 step and a half per second) at a normal walking speed, and automatically storing measured point cloud data and images into an SD card of an SD card socket at a set frequency;
5) after the roadway measurement is completed, the scanning device is carried to the ground and the SD card is taken out, so that the data can be exported for high-precision geological model construction.
Claims (8)
1. A portable mining roadway multi-source sensor scanning device is characterized by comprising an outer shell and an acquisition control circuit, wherein each part of the acquisition control circuit is respectively arranged in the outer shell and on the wall surface of the outer shell, so that the inner cavity of the outer shell is a sealed cavity;
the acquisition control circuit comprises a power supply unit, a sensor unit, an industrial control computer unit and an interactive display unit; the sensor unit, the industrial control computer unit and the interactive display unit are respectively connected with the power supply unit; the sensor unit and the interactive display unit are respectively connected with an industrial control computer unit, the sensor unit acquires high-precision point cloud data after multi-source sensor fusion, and the industrial control computer unit is used for controlling the acquisition and processing of the data of the sensor unit and realizing input and display interaction with the interactive display unit; the interactive display unit is used for realizing parameter input and displaying the processing result of the industrial control computer unit;
the sensor unit comprises a three-dimensional laser radar, a panoramic camera and an MEMS gyroscope, and the position relation between the three-dimensional laser radar and the panoramic camera is calibrated in a mode of marking a target plate based on a two-dimensional checkerboard; the industrial control computer unit comprises a single-board computer and an SSD hard disk; the interactive display unit comprises an LCD display screen, an SD card socket and an integrated three-proofing touch pad mouse;
the upper wall of the outer shell is provided with an opening, and the opening is hermetically covered with a hemispherical transparent cover (1) which is used as a light-transmitting window of the three-dimensional laser radar and the panoramic camera; a power supply digital display window (2), a display screen mounting port (3) and a touch pad mouse mounting port (4) are sequentially arranged on the front wall of the outer shell from top to bottom, a mouse left key mounting port (5) and a mouse right key mounting port (6) are arranged below the touch pad mouse mounting port (4), and a power supply switch button (7) and a display screen switch button (8) are arranged below the touch pad mouse mounting port (4); an SD card socket mounting port (9) and a charging socket mounting port (10) are arranged on the side wall of the outer shell, and a side cover plate (11) is arranged on the SD card socket mounting port (9) and the charging socket mounting port (10).
2. The portable mining roadway multisource sensor scanning device of claim 1, wherein the SSD hard disk is mounted on and connected to a single board computer; the touch pad mouse, the display screen and the SD card socket are respectively connected with a single-board computer;
and the three-dimensional laser radar, the panoramic camera and the MEMS gyroscope are respectively connected with the single-board computer.
3. The portable mining roadway multisource sensor scanning device of claim 1, wherein the power supply unit comprises a nickel-metal hydride battery pack and a protection circuit, the nickel-metal hydride battery pack is connected with the protection circuit and is used for supplying power to the sensor unit, the industrial control computer unit and the interactive display unit and receiving charging of an external power supply.
4. The portable mining roadway multisource sensor scanning device of claim 1, wherein the outer shell is made of PVC material, the surface layer of the outer shell is coated with insulating paint, and the outer shell is of a cuboid structure; the transparent cover (1) is made of polycarbonate materials, the transparent cover (1) is fixed on the upper wall of the outer shell through screw holes and is subjected to double waterproof treatment through a silica gel pad of a contact surface and sealant at a gap to serve as a light-transmitting window of the multi-line laser radar and the panoramic camera;
the power supply digital display window (2) is embedded into the outer shell, displayed on the surface of the outer shell and waterproof through a sealant;
the display screen mounting port (3) is used for mounting a display screen, and is provided with a transparent PVC plate which is adhered and embedded into the display screen mounting port (3);
the touch pad mouse mounting port (4) is used for mounting a touch pad mouse, the touch pad mouse is fixed on the outer shell through an internal screw hole and is subjected to double waterproof treatment through a silica gel pad of a contact surface and sealant at a gap;
the power switch button (7) and the display screen switch button (8) adopt a waterproof metal button switch with threads to carry out waterproof treatment through a sealing ring and a sealant at a gap;
the side cover plate (11) is fixed on the outer shell by threads and is subjected to waterproof treatment through an internal gasket;
the SD card socket mounting port (9) is used for mounting an SD card socket, and the SD card socket is fixed in the SD card socket mounting port covered by the side cover plate by adopting a screw and sealed by sealant; the charging socket mounting port (10) is used for mounting a charging socket, and the charging socket adopts a waterproof multi-core self-locking connector with threads to carry out waterproof treatment through a sealing ring and sealing glue at a gap.
5. The portable mining roadway multisource sensor scanning device of claim 1, wherein the positional relationship between the three-dimensional lidar and the panoramic camera is calibrated in a manner based on a two-dimensional checkerboard target plate, the specific steps being:
(1) firstly, collecting data of 15 marking target plates by using a three-dimensional laser radar and a panoramic camera;
(2) respectively searching corresponding plane equations of the mark target plate in the three-dimensional laser radar and the panoramic camera, and inputting the collected data of the mark target plate into the plane equations;
(3) solving a plane equation to obtain position equations of the two sensors according to set constraint conditions to obtain a position relation;
(4) normalizing the obtained position relation to the same coordinate system.
6. The portable mining roadway multi-source sensor scanning device of claim 1, wherein the power supply unit is mounted in a power supply bin, and the power supply bin is sealed by glue filling and fixed in the outer shell through screws.
7. The portable mining roadway multi-source sensor scanning device of claim 1, wherein components of the acquisition control circuit are mounted on an acquisition control circuit board support and then fixed in an outer shell through screws.
8. A construction method of a portable mining roadway multi-source sensor scanning device is characterized by comprising the following steps:
(1) arranging a special target ball on the coal bed rock wall of the roadway to be measured at intervals of 20 meters, and measuring the geographic coordinates of the center of the target ball by adopting a high-precision explosion-proof total station;
(2) placing the scanning device of claim 1 on a central line of a roadway to be detected, measuring and recording geographic coordinates of the position of the scanning device by using a high-precision explosion-proof total station;
(3) after the scanning device is started, the geographic coordinate of the position of the integrated three-prevention touch pad mouse input device is adopted in an initialization interface, the fact that the scanning device collects software to automatically calibrate an instrument coordinate system to a geographic coordinate system after determination and starts counting down is determined, and a sensor unit is started after 3 minutes;
(4) carrying a scanning device to pass through a detected roadway at a normal walking speed at a constant speed, and automatically storing measured point cloud data and images into an SD card of an SD card socket at a set frequency;
(5) after the roadway measurement is completed, the scanning device is carried to the ground and the SD card is taken out, so that the data can be exported for high-precision geological model construction.
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| CN202010750712.0A CN111980751B (en) | 2020-07-30 | 2020-07-30 | Portable mining roadway multi-source sensor scanning device and construction method |
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| CN202010750712.0A CN111980751B (en) | 2020-07-30 | 2020-07-30 | Portable mining roadway multi-source sensor scanning device and construction method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112475617A (en) * | 2020-11-27 | 2021-03-12 | 合肥玉卓光电科技有限公司 | Portable laser marking machine |
| CN113218329A (en) * | 2021-04-22 | 2021-08-06 | 武汉理工大学 | Environment sensing device suitable for deep underground stope of mine |
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