Quick coordinate positioning method for three-dimensional laser detection system of underground vacant area

Abstract

The invention discloses a quick coordinate positioning method for a three-dimensional laser detection system of an underground vacant area, and belongs to the technical field of underground mine surveying and mapping. The method comprises the following steps: 1, setting a front target at a target position on a three-dimensional laser scanning equipment head; 2, generating a laser reference point on the rock wall right behind the three-dimensional laser scanning equipment head by a laser ranging and positioning device mounted on the three-dimensional laser scanning equipment head; 3, positioning the absolute coordinates of the three-dimensional laser scanning equipment head by measuring the absolute coordinates of the front target and the laser reference point by a non-prism mode of a total-station instrument so as to transform a point cloud under a local coordinate system scanned by the three-dimensional laser scanning equipment head into a point cloud under a world coordinate system. The method is easy, convenient and quick for positioning, and the result is accurate; the labor cost and the material cost are reduced, and the scanning efficiency is improved.

Description

Technical field: [0001] The invention belongs to the technical field of underground mine surveying and mapping, and in particular relates to a quick coordinate positioning method for a three-dimensional laser detection system in an underground empty area. Background technique: [0002] The existence of a large number of goafs deteriorates the mining conditions of mines, causing deformation and damage of ore pillars. What is more serious is that disasters such as large-scale underground caving, rock movement, surface subsidence, and water inrush caused by goafs may cause serious casualties. and equipment damage, posing a serious threat to mine safety production. The empty area 3D laser detection system (CMS) is a non-contact active measurement system that uses laser as the measurement medium to collect large-area, high-density, and large-space 3D data, thereby truly describing the overall structure and location of the target. Morphological properties. Compared with traditio...

AI Technical Summary

Problems solved by technology

[0004] (1) It is difficult to move the equipment

Existing positioning methods require a variety of supporting devices, and the device components are many, and most of them are slender rods. Due to the narrow underground working space of mines, it takes time and effort to carry and transfer

[0005] (2) High measurement environment requirements

In the existing method, before setting up the equipment, it is necessary to find a relatively spacious, safe, and wide-viewing place at the entrance of the empty space in advance. In the narrow underground space, it is often difficult to achieve this requirement, and the operation is very inconvenient.

[0006] (3) The installation and disassembly process is cumbersome

The underground gobs of mines are widely distributed and the number is large. After measuring a goaf, it is necessary to transfer the equipment to the next measurement point for new measurement. During this process, these components need to be disassembled and assembled continuously. This process is relatively It is cumbersome, so it consumes a lot of working time and seriously reduces the efficiency of empty area scanning

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