A tunnel excavation face blasting mining method based on 3D laser modeling

Abstract

The present invention discloses a method for blasting mining and loading of tunnel excavation face based on three-dimensional laser modeling, which comprises the following steps: S1. Scanning the tunnel excavation face to be modeled by using a three-dimensional laser scanner to obtain point cloud data A of the tunnel excavation face and the front end tunnel, and processing the point cloud data A to construct a reference three-dimensional laser model; S2. Blasting mining and loading operation cycle; S3. Scanning the new excavation face and tunnel after the blasting cycle mining and loading by using a three-dimensional laser scanner to obtain point cloud data B of the new excavation face and the front end tunnel, and processing the point cloud data B to construct a three-dimensional cycle laser model; S4. Mining and loading according to the excavation amount. Its beneficial effects are: using three-dimensional laser scanning to obtain the point cloud data of the excavation face after the slag discharge is completed, establishing a three-dimensional laser cycle model of the reference three-dimensional laser model, automatically calculating the blasting footage and excavation direction through the difference between the two models, and the acceptance result is accurate.

Description

Technical Field

[0001] The invention relates to a tunnel excavation face blasting mining method based on three-dimensional laser modeling. Background Art

[0002] Tunnel excavation is an extremely important part of underground mining. Tunnel excavation is usually carried out by blasting. Each blasting operation cycle is divided into design-rock drilling-charge-blasting-slag removal-support-acceptance and other processes. Among them, the acceptance of blasting excavation is not only related to the actual footage of the current blasting cycle, but the accuracy of the acceptance results directly affects the blasting design work of the next cycle. The acceptance work includes blasting footage, excavation surface flatness and other contents.

[0003] At present, the penetration of blasting excavation is mainly measured by total station, which requires at least two people to work together and is complicated to operate. The flatness of the blasting excavation surface, over-excavation and under-excavation of the top and bottom plates can only be observed by human eyes, with a low degree of automation and low measurement accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a tunnel excavation face blasting mining method based on three-dimensional laser modeling, which can reduce manual operation, reduce the labor intensity of workers, and improve the accuracy of acceptance results. To achieve the above purpose, the present invention provides a tunnel excavation face blasting mining method based on three-dimensional laser modeling, which mainly includes the following steps:

[0005] S1. Set the 3D laser scanner in the center of the tunnel 3 to 5 meters behind the excavation face, spray three black and white checkerboard feature marks that are not in line with each other on the side of the tunnel between the 3D laser scanner and the excavation face, use the 3D laser scanner to scan the excavation face of the tunnel to be modeled, obtain point cloud data A of the excavation face and the front tunnel, and process the point cloud data A to construct a reference 3D laser model;

[0006] S2. Blasting and loading operation cycle;

[0007] S3. Use a three-dimensional laser scanner to scan the new excavation face and tunnel after blasting cycle mining, obtain the point cloud data B of the new excavation face and the front end of the tunnel, and process the point cloud data B to construct a three-dimensional cycle laser model;

[0008] S4. Mining and loading according to the excavation volume.

[0009] Preferably, the processing of the point cloud data A in step S1 comprises the following steps:

[0010] S1.1 is scanned using a 3D laser scanner;

[0011] S1.2 denoises and thins the point cloud data A obtained by scanning with a 3D laser scanner;

[0012] S1.3 Output the denoised and thinned point cloud data A to an Excel data table;

[0013] The content is the point number and its spatial coordinates;

[0014] The three-dimensional laser model constructed by the processed point cloud data A is called a reference three-dimensional laser model.

[0015] Preferably, the step S3 comprises the following steps:

[0016] S3.1 After the blasting and mining operation cycle, use a 3D laser scanner to scan the new excavation face and front tunnel again at the original location to obtain point cloud data B;

[0017] S3.2 denoises and thins the point cloud data B obtained by scanning with a laser scanner;

[0018] S3.3 outputs the denoised and thinned point cloud data B to an Excel data table, and obtains the data content as the point number and its spatial coordinates.

[0019] Preferably, step S4 of excavation volume collection includes the following steps:

[0020] S4.1 aligning the reference 3D laser model with the 3D cycle laser model based on the feature identifier as a base point;

[0021] Step S4.1 Model alignment adopts the following method: In the scanned point cloud data A or point cloud data B, the coordinate origin is the optical center of the scanner, and its coordinate is set to O. Then the coordinate of point O is (0,0,0), the optical center coordinate system is O-xyz, and the coordinate of a point P in the scanned point cloud is P o (x o ,y o ,z o ), the coordinates of the three feature identification center points in the optical center coordinate system are M1(x1, y1, z1), M2(x2, y2, z2), and M3(x3, y3, z3). The coordinates of the center of gravity G of the space triangle M1M2M3 can be calculated as x=(x1+x2+x2) / 3, y=(y1+y2+y2) / 3, z=(z1+z2+z2) / 3. The coordinate origin is translated from point O to point G, and the translation vector is Then the coordinates of a point P in the scanned point cloud are updated to P with point G as the origin of the coordinates. G (x o +x,y o +y,z o+z), the coordinates of each scanned point cloud are updated with the center of gravity G of M1M2M3 as the origin. The updated point G coordinates are (0,0,0), and the new coordinate system is G-xyz, thus completing the alignment of different models;

[0022] S4.2 calculates the footage of the current blasting cycle. The steps are as follows:

[0023] After the nth blasting cycle, the laser model Model n Align with the reference laser model Model0, update the coordinates of the points in the Excel data table with the new coordinate system G-xyz, and cut Model with plane x=0 n With Model0, we get the intersection line L of the excavation surface n and L0, do the following calculation in the Excel data table:

[0024] ① The circular laser model after alignment n The set of points {P n} and {P0}, which contains the intersection line L n The points on L0 and the points on the intersection of plane x=0 and the top and bottom plates of the roadway need to be further screened;

[0025] ②In {P n} and {P0} respectively select the point with the largest z coordinate and Its z coordinate value is z n and z0;

[0026] ③ Considering that shallow hole blasting is often used in tunneling blasting, the over-excavation depth is generally no more than 0.2m. n} and {P0} respectively select the range of z coordinate values ​​as z n ±0.2 and z0±0.2, we can filter out the set {P n} and {P0}, the point on the intersection line between plane x=0 and the top and bottom plates of the roadway, and the intersection line L n With the point on L0 and m and k are the intersection lines L n The number of intersection points with L0;

[0027] ④ Assume that the initial excavation depth in the benchmark laser model is d0, then The excavation depth after the nth blasting cycle is d n ,but Correspondingly, the footage of this blasting cycle is D = d n -d n-1 ;

[0028] S4.3 Calculate the flatness of the excavation surface for the current blasting cycle. The steps are as follows:

[0029] The process of calculating the flatness is as follows: In the nth blasting cycle, the new excavation depth d calculated in step S4.2 is n Draw a plane z=d perpendicular to the plane x=0 n , with plane z = d n As the design excavation face of the current excavation face, the following calculations are performed on the point cloud data table B:

[0030] ① Considering that shallow hole blasting is often used in tunneling blasting, the over-excavation depth is generally no more than 0.2m. Therefore, all the points with z coordinates d are selected in the point cloud data table B. n The set of points with ±0.2 is the set of all points in the excavation surface {P};

[0031] ②Compare the z coordinate of the midpoint of the set {P} with d n The following calculation is performed, which is defined as the flatness of the excavation face:

[0032]

[0033] Among them, w is the number of nodes in the set {P}, z i is the z coordinate of the node {P} of the set, δ is the flatness of the excavation surface, the smaller the δ value, the higher the flatness;

[0034] S4.4 compares the footage and flatness of the excavation surface of the current blasting cycle with the blasting design to see if they are consistent. If they are consistent, return to step S2; if they are not consistent, optimize the blasting parameters.

[0035] Preferably, the black and white chessboard has a size of 10×10 cm.

[0036] The beneficial effects of the present invention are as follows: three-dimensional laser scanning is used to obtain point cloud data A of the excavation face after slag discharge is completed, a reference three-dimensional laser model is established, and after the next cycle of slag discharge is completed, point cloud data B of the excavation face is obtained again, and a three-dimensional laser cycle model is established. The blasting footage and excavation direction are automatically calculated through the difference between the two models, which reduces manual operation, can reduce the labor intensity of miners, and provide accurate mining and loading results. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of tunnel excavation blasting mining and loading method based on three-dimensional laser modeling.

[0038] Figure 2 It is a schematic diagram of the collection and installation method. DETAILED DESCRIPTION

[0039] The specific implementation of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] Reference Figure 1 and Figure 2 The present invention provides a tunnel excavation face blasting mining method based on three-dimensional laser modeling, which includes the following steps:

[0041] S1. Set a 3D laser scanner in the center of the tunnel 3 to 5 meters behind the excavation face, spray three black and white checkerboard feature marks that are not in line with each other on the side of the tunnel between the 3D laser scanner and the excavation face, the black and white checkerboard size is 10×10 cm, use the 3D laser scanner to scan the excavation face of the tunnel to be modeled, obtain point cloud data A of the excavation face and the front end of the tunnel, and process the point cloud data A to construct a reference 3D laser model;

[0042] The processing of the point cloud data A in step S1 includes the following steps:

[0043] S1.1 is scanned using a 3D laser scanner;

[0044] S1.2 denoises and thins the point cloud data A obtained by scanning with a 3D laser scanner;

[0045] S1.3 Output the denoised and thinned point cloud data A to an Excel data table;

[0046] The content is the point number and its spatial coordinates;

[0047] The three-dimensional laser model constructed by the processed point cloud data A is called a reference three-dimensional laser model.

[0048] S2. Blasting and loading operation cycle;

[0049] S3. Scan the new excavation face and tunnel after the blasting cycle using a three-dimensional laser scanner to obtain point cloud data B of the new excavation face and the front tunnel of the tunnel, and process the point cloud data B to construct a three-dimensional cycle laser model;

[0050] The step S3 comprises the following steps:

[0051] S3.1 After the blasting and mining operation cycle, use a 3D laser scanner to scan the new excavation face and front tunnel again at the original location to obtain point cloud data B;

[0052] S3.2 denoises and thins the point cloud data B obtained by scanning with a laser scanner;

[0053] S3.3 outputs the denoised and thinned point cloud data B to an Excel data table, and obtains the data content as the point number and its spatial coordinates.

[0054] According to the present invention, slag should be completely removed before each scanning, and there should be no debris within the scanning range.

[0055] According to the present invention, based on the effective range of 50m of the 3D laser scanner, the feature marking should be re-sprayed in the front tunnel of the new excavation face after 10 blasting and mining cycles or when the excavation footage reaches 50m, and a new round of benchmark 3D laser model should be constructed after re-spraying.

[0056] According to the present invention, the three-dimensional laser model constructed after scanning after each blasting and mining cycle is called a three-dimensional cycle laser model, and the position of the scanner should be relatively fixed with the position of the three-dimensional reference laser mold.

[0057] S4. Excavation and loading

[0058] Step S4: excavation volume collection and loading includes the following steps:

[0059] S4.1 aligning the reference 3D laser model with the 3D cycle laser model based on the feature identifier as a base point;

[0060] Step S4.1 Model alignment adopts the following method: In the scanned point cloud data A or point cloud data B, the coordinate origin is the optical center of the scanner, and its coordinate is set to O. Then the coordinate of point O is (0,0,0), the optical center coordinate system is O-xyz, and the coordinate of a point P in the scanned point cloud is P o (x o ,y o ,z o ), the coordinates of the three feature identification center points in the optical center coordinate system are M1(x1, y1, z1), M2(x2, y2, z2), and M3(x3, y3, z3). The coordinates of the center of gravity G of the space triangle M1M2M3 can be calculated as x=(x1+x2+x2) / 3, y=(y1+y2+y2) / 3, z=(z1+z2+z2) / 3. The coordinate origin is translated from point O to point G, and the translation vector is Then the coordinates of a point P in the scanned point cloud are updated to P with point G as the origin of the coordinates. G (x o +x,y o +y,z o +z), the coordinates of each scanned point cloud are updated with the center of gravity G of M1M2M3 as the origin. The updated point G coordinates are (0,0,0), and the new coordinate system is G-xyz, thus completing the alignment of different models;

[0061] S4.2 calculates the footage of the current blasting cycle. The steps are as follows:

[0062] After the nth blasting cycle, the laser model Model nAlign with the reference laser model Model0, update the coordinates of the points in the Excel data table with the new coordinate system G-xyz, and cut Model with plane x=0 n With Model0, we get the intersection line L of the excavation surface n and L0, do the following calculation in the Excel data table:

[0063] ① The circular laser model after alignment n The set of points {P n} and {P0}, which contains the intersection line L n The points on L0 and the points on the intersection of plane x=0 and the top and bottom plates of the roadway need to be further screened;

[0064] ②In {P n} and {P0} respectively select the point with the largest z coordinate and Its z coordinate value is z n and z0;

[0065] ③ Considering that shallow hole blasting is often used in tunneling blasting, the over-excavation depth is generally no more than 0.2m. n} and {P0} respectively select the range of z coordinate values ​​as z n ±0.2 and z0±0.2, we can filter out the set {P n} and {P0}, the point on the intersection line between plane x=0 and the top and bottom plates of the roadway, and the intersection line L n With the point on L0 and m and k are the intersection lines L n The number of intersection points with L0;

[0066] ④ Assume that the initial excavation depth in the benchmark laser model is d0, then The excavation depth after the nth blasting cycle is d n ,but Correspondingly, the footage of this blasting cycle is D = d n -d n-1 ;

[0067] S4.3 Calculate the flatness of the excavation surface for the current blasting cycle. The steps are as follows:

[0068] The process of calculating the flatness is as follows: In the nth blasting cycle, the new excavation depth d calculated in step S4.2 is n Draw a plane z=d perpendicular to the plane x=0 n , with plane z = d n As the design excavation face of the current excavation face, the following calculations are performed on the point cloud data table B:

[0069] ① Considering that shallow hole blasting is often used in tunneling blasting, the over-excavation depth is generally no more than 0.2m. Therefore, all the points with z coordinates d are selected in the point cloud data table B. n The set of points with ±0.2 is the set of all points in the excavation surface {P};

[0070] ②Compare the z coordinate of the midpoint of the set {P} with d n The following calculation is performed, which is defined as the flatness of the excavation face:

[0071]

[0072] Among them, w is the number of nodes in the set {P}, z i is the z coordinate of the node {P} of the set, δ is the flatness of the excavation surface, the smaller the δ value, the higher the flatness;

[0073] S4.4 compares the footage and flatness of the excavation surface of the current blasting cycle with the blasting design to see if they are consistent. If they are consistent, return to step S2; if they are not consistent, optimize the blasting parameters.

[0074] Although the embodiments disclosed in the present invention are as above, the contents described are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A tunnel excavation face blasting mining method based on three-dimensional laser modeling, characterized in that: It mainly includes the following steps: S1. Set the 3D laser scanner in the center of the tunnel 3 to 5 meters behind the excavation face, spray three black and white checkerboard feature marks that are not in line with each other on the side of the tunnel between the 3D laser scanner and the excavation face, use the 3D laser scanner to scan the excavation face of the tunnel to be modeled, obtain point cloud data A of the excavation face and the front tunnel, and process the point cloud data A to construct a reference 3D laser model; S2. Blasting and loading operation cycle; S3. Scan the new excavation face and tunnel after the blasting cycle using a three-dimensional laser scanner to obtain point cloud data B of the new excavation face and the front tunnel of the tunnel, and process the point cloud data B to construct a three-dimensional cycle laser model; S4. Excavation and loading, Step S4: excavation volume collection and loading includes the following steps: S4.1 aligning the reference 3D laser model with the 3D cycle laser model based on the feature identifier as a base point; Step S4.1 Model alignment adopts the following method: In the scanned point cloud data A or point cloud data B, the coordinate origin is the optical center of the scanner, and its coordinate is set to O. Then the coordinate of point O is (0,0,0), the optical center coordinate system is O-xyz, and the coordinate of a point P in the scanned point cloud is P o (x o ,y o ,z o ), the coordinates of the three feature identification center points in the optical center coordinate system are M1(x1, y1, z1), M2(x2, y2, z2), and M3(x3, y3, z3). The coordinates of the center of gravity G of the space triangle M1M2M3 can be calculated as x=(x1+x2+x3) / 3, y=(y1+y2+y3) / 3, z=(z1+z2+z3) / 3. The coordinate origin is translated from point O to point G, and the translation vector is Then the coordinates of a point P in the scanned point cloud are updated to P with point G as the origin of the coordinates. G (x o +x,y o +y,z o +z), the coordinates of each scanned point cloud are updated with the center of gravity G of M1M2M3 as the origin. The updated point G coordinates are (0,0,0), and the new coordinate system is G-xyz, thus completing the alignment of different models; S4.2 calculates the footage of the current blasting cycle. The steps are as follows: After the nth blasting cycle, the laser model Model n Align with the reference laser model Mode 10, update the coordinates of the points in the Excel data table with the new coordinate system G-xyz; take plane x=0 to cut Mode 1 n With Model0, we get the intersection line L of the excavation surface n and L0, do the following calculation in the Excel data table: ① The circular laser model after alignment n The set of points {P n } and {P0}, which contains the intersection line L n The points on L0 and the points on the intersection of plane x=0 and the top and bottom plates of the roadway need to be further screened; ②In {P n } and {P0} respectively select the point with the largest z coordinate and Its z coordinate value is z n and z0; ③ Considering that shallow hole blasting is often used in tunneling blasting, the over-excavation depth does not exceed 0.2m, so in {P n } and {P0} respectively select the range of z coordinate values ​​as z n ±0.2 and z0±0.2, we can filter out the set {P n } and {P0}, the point on the intersection line between plane x=0 and the top and bottom plates of the roadway, and the intersection line L n With the point on L0 and m and k are the intersection lines L n The number of intersection points with L0; ④ Assume that the initial excavation depth in the benchmark laser model is d0, then The excavation depth after the nth blasting cycle is d n ,but Correspondingly, the footage of this blasting cycle is D = d n -d n-1 ; S4.3 Calculate the flatness of the excavation surface for the current blasting cycle. The steps are as follows: The process of calculating the flatness is as follows: In the nth blasting cycle, the new excavation depth d calculated in step S4.2 is n Draw a plane z=d perpendicular to the plane x=0 n , with plane z = d n As the design excavation face of the current excavation face, the point cloud data B is calculated as follows: ① Considering that shallow hole blasting is often used in tunneling blasting, the over-excavation depth does not exceed 0.2m. Therefore, all z coordinates are selected as d in point cloud data B. n The set of points with ±0.2 is the set of all points in the excavation surface {P}; ②Compare the z coordinate of the midpoint of the set {P} with d n The following calculation is performed, which is defined as the flatness of the excavation face: Among them, w is the number of nodes in the set {P}, z i is the z coordinate of the node {P} of the set, δ is the flatness of the excavation surface, the smaller the δ value, the higher the flatness; S4.4 compares the footage and flatness of the excavation surface of the current blasting cycle with the blasting design to see if they are consistent. If they are consistent, return to step S2; if they are not consistent, optimize the blasting parameters.

2. The tunnel excavation face blasting mining method based on three-dimensional laser modeling according to claim 1 is characterized in that: The step S1 comprises the following steps: S1.1 Set the 3D laser scanner in the center of the tunnel 3-5m behind the excavation face, spray three black and white checkerboard feature marks that are not in line with each other on the side of the tunnel between the 3D laser scanner and the excavation face, scan the excavation face of the tunnel to be modeled, and obtain point cloud data A of the excavation face of the tunnel and the front tunnel; S1.2 denoises and thins the point cloud data A obtained by scanning with a 3D laser scanner; S1.3 Output the denoised and thinned point cloud data A to an Excel data table, where the data content is the point number and its spatial coordinates; The 3D laser model constructed by the first scan is called a reference 3D laser model.

3. The tunnel excavation face blasting mining method based on three-dimensional laser modeling according to claim 1 is characterized in that: The step S3 comprises the following steps: S3.1 After the blasting operation cycle, use a 3D laser scanner to scan the new excavation face and front tunnel at the original position to obtain point cloud data B; S3.2 denoises and thins the point cloud data B obtained by scanning with a laser scanner; S3.3 outputs the denoised and thinned point cloud data B to an Excel data table, and obtains the data content as the point number and its spatial coordinates.

4. The tunnel excavation face blasting mining method based on three-dimensional laser modeling according to claim 1 is characterized in that: The size of the black and white chessboard is 10×10 cm.

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