Vehicle-mounted laser measuring method for mining area subsidence

Abstract

The invention discloses a vehicle-mounted laser measuring method for mining area subsidence, which faces to requirements on monitoring of ground surface subsidence caused by exploiting on the mining area, and highly effectively integrates a vehicle-mounted three-dimensional laser scanner, a laser line scanning system and a laser point distance measuring system. The method comprises the steps of observing the mining area subsidence continuously; building a high-accuracy three-dimensional model for the ground surface of the subsidence; carrying out elevation difference detection on the ground surface on the basis of a time sequence; automatically identifying a subsidence area; and extracting subsidence characteristics; building a three-dimensional visual model of the mining area subsidence; and analyzing three-dimensional space moving vectors and deformation curves of an observing point in the horizontal direction, the vertical direction and the random direction, so as to realize the time sequence analysis and three-dimensional space analysis and estimate of subsidence rang change, maximum subsidence change and subsidence speed change, so that a basis for decision making for monitoring, recovering and managing mining area environments can be provided.

Description

technical field [0001] The invention belongs to the field of mine measurement, in particular to the field of mine subsidence measurement, and relates to a vehicle-mounted laser measurement method for mine subsidence, especially by using laser point ranging, laser line scanning, laser three-dimensional scanning and GPS / IMU / acceleration value combined compensation A vehicle-mounted laser measurement method for mine subsidence technology. Background technique [0002] While the large-scale development and utilization of mineral resources has brought huge social and economic benefits to mankind, it has also caused a series of environmental problems and mining damage to human production and life. The mining subsidence of the mining area is caused by the formation of the goaf after mineral mining, and the upper rock stratum undergoes deformation such as caving, fracture, extrusion, bending, and movement under the action of gravity, etc., and spreads to the ground. It is one of the...

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Problems solved by technology

Although the use of GPS combined with conventional measurement methods can achieve higher accuracy, there are still some basic problems: 1) GPS has a high resolution in the time domain, but the resolution in the space domain cannot be very high; 2) To monitor large-scale subsidence areas, a large number of monitoring points must be arranged and maintained, and a large amount of human resources and property must be invested; 3) The stability of the reference point; 4) The field observation operation cycle is long; 5) The vertical accuracy is low; 6) Constructing a subsidence surface from subsidence point and line data must unde

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