Rotating surface based goaf laser scanning point cloud triangulation method

A technology of laser scanning and triangulation, which is applied to the details of processing steps, image data processing, 3D modeling, etc., can solve the problems of unverified effects, low efficiency, and high algorithm complexity, so as to achieve easy implementation and ensure accuracy Sexuality, the effect of ensuring efficiency

Inactive Publication Date: 2015-03-04
CENT SOUTH UNIV
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Problems solved by technology

The above methods have little research and application on the triangulation of laser scanning point clouds in complex shapes of gobs. Since the existing topological laws of laser scanning point clouds are not considered, the algorithm complexity is high, the efficiency is low, and the effect has not been verified; The applicability of goafs with complex shapes is not strong. At present, there is no very effective accurate modeling method for scattered point clouds at the boundaries of goafs

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  • Rotating surface based goaf laser scanning point cloud triangulation method
  • Rotating surface based goaf laser scanning point cloud triangulation method
  • Rotating surface based goaf laser scanning point cloud triangulation method

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Embodiment Construction

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] The present invention realizes steps as follows, method flow chart sees Figure 4 :

[0049] Use the laser scanning detection equipment to detect the goaf, and extend the laser scanning head into the gob through the connecting rod. During the detection, the scanning head rotates 360° and continuously measures the boundary point information of the goaf through the laser, and scans after each scan The head will automatically raise the preset angle and scan a new circle until all the detection work is completed.

[0050] ①Through spherical projection, the in-situ point cloud with no obvious rules is converted into a circle-by-circle spherical point cloud, and the spherical point cloud is interpolated to restore the original spatial topological relationship, and the in-situ point cloud is interpolated synchronously.

[0051] ② Ge...

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Abstract

The invention discloses a rotating surface based goaf laser scanning point cloud triangulation method. The method comprises steps as follows: 1), irregular actually measured scanning point cloud is converted into spherical projection point clouds round and round through spherical projection and subjected to interpolation, original topological relation is restored, and actually measured scanning point cloud is subjected to interpolation synchronously; 2), points on an upper circle of a rotating surface and a central rotating shaft form the rotating surface, a point, nearest to the rotating surface, of an adjacent circle is searched, and the optimum grid is established; and 3), the optimum grid is subjected to triangulation with a middle position judgment method, a goaf in-situ point cloud is subjected to triangulation synchronously, and a triangular grid model of a goaf is acquired. The method is high in efficiency and accuracy.

Description

technical field [0001] The invention relates to a laser scanning point cloud triangulation method of a goaf based on a rotating plane. Background technique [0002] The goaf formed by underground metal mining [goaf refers to the empty area formed by mining] often leads to the deterioration of mining conditions, difficulties in the maintenance of stopes and roadways in adjacent operating areas, and even causes large-scale underground caving and rock movement Disasters such as land subsidence and surface subsidence pose a serious threat to mine safety production. At present, the detection technologies of gobs at home and abroad mainly include engineering drilling, geophysical exploration, laser scanning detection and other technologies. In terms of accurately obtaining the three-dimensional shape of gobs, laser scanning detection technology has certain advantages. [Point cloud refers to the collection of points obtained after obtaining the spatial coordinates of each sampling...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/30
CPCG06T17/30G06T2200/08
Inventor 罗周全罗贞焱黄俊杰汪伟周吉明秦亚光张文芬
Owner CENT SOUTH UNIV
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