Three-dimensional detection system and detection method for mine safety

Abstract

The invention discloses a three-dimensional detection system and detection method for mine safety, and relates to the technical field of mine safety. The unmanned aerial vehicle platform comprises an unmanned aerial vehicle and an unmanned aerial vehicle controller. The three-dimensional acquisition device is mounted on the unmanned aerial vehicle, and the three-dimensional acquisition device comprises a high-resolution camera, an infrared sensor and a laser scanner; the data transmission and processing module is used for receiving the point cloud data transmitted by the three-dimensional acquisition device, processing the data through a professional three-dimensional reconstruction algorithm and generating a three-dimensional model of the mine environment; the three-dimensional image rendering module is used for rendering the three-dimensional model to realize visualization of the mine environment; and the safety deduction analysis module is used for carrying out classification and early warning on potential hidden dangers based on the three-dimensional model and through a preset safety evaluation standard. By combining the high-resolution camera, the infrared sensor and the laser scanner, three-dimensional data of the mine environment can be quickly obtained, and an accurate three-dimensional model is generated through a professional algorithm.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine safety, and in particular relates to a three-dimensional detection system and a detection method for mine safety. Background Art

[0002] With the continuous deepening of mining activities, mine safety issues have become increasingly prominent. The mining environment is complex and dangerous. Traditional safety detection methods mostly rely on manual inspections, which have problems such as low efficiency and high risk. With the development of drone technology and 3D scanning technology, it has become possible to use these advanced technologies for mine safety detection.

[0003] In the existing technology, the data collected by drones often requires manual intervention and it is difficult to achieve real-time, high-precision safety analysis. At the same time, the existing drone detection systems focus on a single function, such as image acquisition or temperature detection, and lack the ability to detect the mine environment in an all-round and multi-level manner. To this end, we provide a three-dimensional detection system and detection method for mine safety to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a three-dimensional detection system and detection method for mine safety, which solves the problems of low efficiency and accuracy of existing mine safety management through three-dimensional modeling and safety detection of the mine environment.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a three-dimensional detection system for mine safety, including an unmanned aerial vehicle platform, a three-dimensional acquisition device, a data transmission and processing module, a three-dimensional image rendering module and a safety deduction and analysis module. The unmanned aerial vehicle platform includes a unmanned aerial vehicle and a unmanned aerial vehicle controller. The three-dimensional acquisition device is mounted on the unmanned aerial vehicle. The three-dimensional acquisition device includes a high-resolution camera, an infrared sensor and a laser scanner. The data transmission and processing module receives point cloud data transmitted by the three-dimensional acquisition device, processes the data through a professional three-dimensional reconstruction algorithm, and generates a three-dimensional model of the mine environment. The three-dimensional image rendering module renders the three-dimensional model to realize the visualization of the mine environment. The safety deduction and analysis module is based on the three-dimensional model and classifies and warns potential hazards through preset safety assessment standards.

[0007] The present invention is further configured such that there are multiple drone platforms and they are cross-arranged around the mine, so that when collecting images, images of the same position in the mine can be obtained from two or more different perspectives.

[0008] The present invention is further configured such that the three-dimensional reconstruction algorithm adopted by the data transmission and processing module when constructing the three-dimensional model is one or both of a stereoscopic vision algorithm and a laser scanning algorithm.

[0009] The present invention is further configured such that when the three-dimensional reconstruction algorithm used is a combination of a stereo vision algorithm and a laser scanning algorithm, the method specifically includes the following steps:

[0010] S1: Data fusion;

[0011] S2: preprocessing and correction;

[0012] S3: feature matching and point cloud generation;

[0013] S4: 3D reconstruction;

[0014] S5: Model optimization and post-processing, which refines the generated 3D model, removes noise and outliers, improves the accuracy of the model, and compresses the 3D model data for easy storage and transmission;

[0015] S6: Integration and automation, integrating the laser scanning system and stereo vision system into a unified platform to automate data acquisition, processing and analysis.

[0016] The present invention is further configured that S2 includes:

[0017] S21: Correcting sensor data: Correcting laser scanning data and camera images to eliminate or reduce sensor errors;

[0018] S22: Data alignment: aligning the data collected by different three-dimensional acquisition devices into the same coordinate system through coordinate transformation and image registration.

[0019] The present invention is further configured that S3 includes the following steps:

[0020] S31: Feature extraction: extracting feature points from the laser scanning point cloud and camera image;

[0021] S32: Stereo matching: Use stereo vision algorithms to perform feature matching between laser scanning point clouds and camera images to establish correspondence;

[0022] S33: Generate point cloud: Generate a fused point cloud based on the matching result, combining the depth information of the laser scan and the texture information of the camera.

[0023] The present invention is further configured that S4 includes the following steps:

[0024] S41: Surface reconstruction: Combine the disparity information provided by the stereo vision algorithm and the precise depth information provided by the laser scanning algorithm to reconstruct the surface using point cloud data to generate a 3D model;

[0025] S42: Texture mapping: Mapping the color information of the camera image onto the three-dimensional model to create a three-dimensional model with texture.

[0026] The present invention is further configured such that the UAV has autonomous navigation technology and realizes autonomous flight and path planning through SLAM based on a combination of vision and laser.

[0027] The present invention is further configured that a three-dimensional detection system for mine safety also includes a user interface and a remote control module, which is used to provide an interface for user interaction with the system, as well as remote control and monitoring functions;

[0028] The data storage and security module is responsible for storing the collected and processed data and ensuring the security and privacy of the data.

[0029] The present invention has the following beneficial effects:

[0030] 1. The present invention realizes high-precision and all-round detection of the mining environment through the three-dimensional acquisition device carried by the UAV platform, thereby improving the accuracy and efficiency of the detection.

[0031] 2. The present invention utilizes a professional 3D reconstruction algorithm to process data, generate a 3D model of the mine environment, realize the visualization of the mine environment, and facilitate intuitive understanding of the safety status of the mine environment.

[0032] 3. The present invention uses a safety deduction and analysis module to classify and warn potential hidden dangers based on a three-dimensional model, discover and deal with safety hazards in advance, and improve the safety of mines.

[0033] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0035] Figure 1 The figure is a schematic diagram of the structure of a three-dimensional detection system for mine safety.

[0036] Figure 2 This is a flow chart of the three-dimensional reconstruction algorithm in the present invention.

[0037] Figure 3 The following is a flowchart showing how to use this system. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] like Figure 1 As shown: The present invention provides a three-dimensional detection system for mine safety, including an unmanned aerial vehicle platform, a three-dimensional acquisition device, a data transmission and processing module, a three-dimensional image rendering module and a safety deduction and analysis module, wherein the unmanned aerial vehicle platform includes a unmanned aerial vehicle and a unmanned aerial vehicle controller, and there are multiple unmanned aerial vehicle platforms and they are cross-arranged around the mine, so that when collecting images, images of the same position in the mine can be obtained from two or more different perspectives; the three-dimensional acquisition device is mounted on the unmanned aerial vehicle, and the three-dimensional acquisition device includes a high-resolution camera, an infrared sensor and a laser scanner; the data transmission and processing module receives the point cloud data transmitted by the three-dimensional acquisition device, processes the data through a professional three-dimensional reconstruction algorithm, and generates a three-dimensional model of the mine environment; the three-dimensional image rendering module renders the three-dimensional model to realize the visualization of the mine environment; the safety deduction and analysis module classifies and warns potential hidden dangers based on the three-dimensional model and through preset safety assessment standards.

[0040] In this embodiment, the UAV platform adopts a multi-UAV collaborative operation mode to improve the detection efficiency and coverage of the mine environment. Each UAV is equipped with a high-resolution camera, infrared sensor and laser scanner, which can perform a comprehensive scan of the mine from different angles.

[0041] During the data collection process, the drone flies according to the preset route, and the 3D acquisition device collects images and data of the mine environment in real time. The high-resolution camera is used to obtain high-definition images of the mine surface, the infrared sensor is used to detect the temperature distribution of the mine surface, and the laser scanner is used to obtain the depth information of the mine environment.

[0042] The collected data is processed by the data transmission and processing module. First, the data is preprocessed, including correcting sensor data, data alignment, etc., to eliminate or reduce sensor errors. Then, the preprocessed data is processed by 3D reconstruction algorithms, such as stereo vision algorithms and laser scanning algorithms, to generate a 3D model of the mining environment.

[0043] The 3D image rendering module receives the 3D model data, renders it, and generates a visual image of the mine environment. Users can understand the mine environment more intuitively through the 3D image.

[0044] The safety simulation analysis module classifies and warns potential hazards based on the 3D model and preset safety assessment standards. For example, by analyzing the stability of the mine structure, it predicts possible landslides, collapses and other accidents, and generates warning information so that timely measures can be taken to prevent accidents.

[0045] In addition, the three-dimensional detection system in this embodiment can also be integrated with other systems, such as a mine monitoring system, to achieve real-time monitoring and early warning of the mine environment.

[0046] Through the above embodiments, it can be seen that the three-dimensional detection system provided by the present invention can quickly and efficiently detect the mine environment, timely discover and warn of potential safety hazards, thereby improving the efficiency and accuracy of mine safety management.

[0047] like Figure 2 As shown, in another optional embodiment, the three-dimensional reconstruction algorithm adopted by the data transmission and processing module when constructing the three-dimensional model is one or both of a stereo vision algorithm and a laser scanning algorithm.

[0048] When the three-dimensional reconstruction algorithm used is a combination of a stereo vision algorithm and a laser scanning algorithm, the specific steps include:

[0049] S1: Data fusion, first, the data collected by the stereo vision system and the laser scanning system are fused to better construct the 3D model;

[0050] S2: preprocessing and correction;

[0051] S21: Correcting sensor data: Correcting laser scanning data and camera images to eliminate or reduce sensor errors;

[0052] S22: Data alignment: aligning the data collected by different three-dimensional acquisition devices into the same coordinate system through coordinate transformation and image registration;

[0053] S3: feature matching and point cloud generation;

[0054] S31: Feature extraction: extracting feature points from the laser scanning point cloud and camera image;

[0055] S32: Stereo matching: Use stereo vision algorithms to perform feature matching between laser scanning point clouds and camera images to establish correspondence;

[0056] S33: Generate point cloud: Generate a fused point cloud based on the matching result, combining the depth information of the laser scan and the texture information of the camera;

[0057] S4: 3D reconstruction;

[0058] S41: Surface reconstruction: Combine the disparity information provided by the stereo vision algorithm and the precise depth information provided by the laser scanning algorithm to reconstruct the surface using point cloud data to generate a 3D model;

[0059] S42: texture mapping: mapping the color information of the camera image onto the three-dimensional model to create a three-dimensional model with texture;

[0060] S5: Model optimization and post-processing, which refines the generated 3D model, removes noise and outliers, improves the accuracy of the model, and compresses the 3D model data for easy storage and transmission;

[0061] S6: Integration and automation, integrating the laser scanning system and stereo vision system into a unified platform to automate data acquisition, processing and analysis.

[0062] In this embodiment, by combining the stereo vision algorithm and the laser scanning algorithm, the advantages of the two algorithms can be fully utilized to improve the accuracy and efficiency of 3D modeling. At the same time, through data fusion, preprocessing and correction, feature matching and point cloud generation, 3D reconstruction, model optimization and post-processing, integration and automation, high-precision 3D modeling of complex scenes can be achieved, providing accurate 3D data support for subsequent applications.

[0063] In another optional embodiment, the UAV has autonomous navigation technology, and realizes autonomous flight and path planning through SLAM based on the combination of vision and laser.

[0064] In this embodiment, the autonomous navigation system of the drone first uses a laser scanner to obtain point cloud data of the surrounding environment, and uses a camera to capture visual information. These data are processed in real time to build an accurate environmental map.

[0065] Next, the drone uses the SLAM (Simultaneous Localization and Mapping) algorithm, combined with laser and visual data, to locate itself and map the environment. This SLAM algorithm that integrates multiple sensors is more robust than a single sensor method and can maintain high positioning accuracy under different environments and lighting conditions.

[0066] In terms of path planning, the drone uses the constructed environmental map to perform real-time path planning to avoid obstacles and optimize the flight route. The path planning algorithm takes into account the drone's flight performance, mission requirements, and environmental constraints to ensure that the drone completes its mission safely and efficiently.

[0067] In addition, the drone also has the ability to take off and land autonomously. During the take-off phase, the drone detects the characteristics of the ground through sensors, accurately locates its position, and then executes the take-off command. During the landing phase, the drone uses a visual system to identify the landing area and achieves a safe landing by accurately controlling the landing speed and angle.

[0068] In this embodiment, by combining vision and laser SLAM technology, the drone can achieve autonomous navigation and path planning in complex environments, improving the intelligence level and operation efficiency of the drone. At the same time, the autonomous take-off and landing capabilities of the drone enable it to complete flight missions without human intervention, reducing the difficulty and risk of operation.

[0069] In another embodiment, the system further includes: a user interface and remote control module, which is used to provide an interface for user interaction with the system, as well as remote control and monitoring functions, and a data storage and security module, which is responsible for storing the collected and processed data and ensuring the security and privacy of the data.

[0070] In this embodiment, the user interface and remote control module are designed to be intuitive and easy to use, allowing users to easily input commands, set parameters and monitor the flight status of the drone. The user interface can be graphical, command line interface, or a combination of the two to suit the needs and preferences of different users.

[0071] The remote control module allows the operator to control the drone from a remote location, which is particularly important for missions in dangerous or hard-to-reach areas. The module supports real-time data transmission, ensuring that the operator can adjust the drone's flight path and mission execution based on real-time feedback.

[0072] The data storage and security module is responsible for managing and protecting all data collected by the drone. This module uses encryption technology to protect data from unauthorized access and implements data backup and recovery functions to prevent data loss. In addition, this module is also responsible for handling data access rights to ensure that only authorized users can access sensitive information.

[0073] To further ensure data security, the data storage and security module also integrates a firewall and intrusion detection system to prevent external attacks and malware intrusion. The module can also monitor abnormal behavior of the system and take corresponding protective measures immediately once a potential security threat is detected, such as isolating the infected system part or notifying the administrator.

[0074] In this embodiment, by integrating the user interface and remote control module as well as the data storage and security module, the drone system not only has efficient user interaction and remote operation capabilities, but also ensures the security and privacy of data, thereby improving the reliability of the entire system and user experience.

[0075] like Figure 3 As shown, the present invention also provides a method for using a three-dimensional detection system based on mine safety, which specifically includes the following steps:

[0076] Step 1: The drone takes off and scans the mine environment from the air according to the preset route. In this step, the 3D laser scanning device on the drone starts working, and the scanning range covers the entire mine area;

[0077] Step 2: The 3D laser scanning device collects 3D point cloud data of the mine environment in real time and transmits it to the data acquisition and processing module. This data includes the precise location and shape information of objects such as mine terrain, buildings, and equipment;

[0078] Step 3: The data acquisition and processing module preprocesses and registers the received data to generate a 3D model of the mining environment. Preprocessing includes operations such as denoising, filtering, and correction to improve the quality of the data. Point cloud registration is to integrate scan data from different perspectives into a unified coordinate system to build a complete 3D model.

[0079] Step 4: The 3D image rendering module renders the 3D model to generate visual images of the mine environment. These images can be used to more intuitively display the mine environment and help staff better understand the mine structure;

[0080] Step 5: The safety simulation analysis module conducts safety simulation analysis based on the 3D model and mine safety rules, predicts potential safety hazards, and generates early warning information. In this step, the system analyzes the 3D model according to the mine safety rules and previous accident cases, identifies areas where danger may occur, such as landslides and collapses, and issues warnings in advance.

[0081] In this embodiment, through this three-dimensional detection system based on mine safety, it is possible to achieve rapid and accurate detection of the mine environment, timely discover potential safety hazards, and provide strong support for mine safety production.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0083] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A three-dimensional detection system for mine safety, characterized in that: include: A drone platform, comprising a drone and a drone controller; A three-dimensional acquisition device, which is mounted on the UAV and includes a high-resolution camera, an infrared sensor and a laser scanner; The data transmission and processing module receives the point cloud data transmitted by the 3D acquisition device, processes the data through a professional 3D reconstruction algorithm, and generates a 3D model of the mining environment; 3D image rendering module, which renders the 3D model to visualize the mine environment; As well as the safety simulation and analysis module, it classifies and warns potential hazards based on the three-dimensional model and through preset safety assessment standards.

2. A three-dimensional detection system for mine safety according to claim 1, characterized in that: There are multiple drone platforms that are cross-arranged around the mine, so that when collecting images, images of the same location in the mine can be obtained from two or more different perspectives.

3. A three-dimensional detection system for mine safety according to claim 1, characterized in that: The three-dimensional reconstruction algorithm adopted by the data transmission and processing module when constructing the three-dimensional model is one or both of a stereoscopic vision algorithm and a laser scanning algorithm.

4. A three-dimensional detection system for mine safety according to claim 3, characterized in that: When the three-dimensional reconstruction algorithm used is a combination of a stereo vision algorithm and a laser scanning algorithm, the specific steps include: S1: Data fusion; S2: preprocessing and correction; S3: feature matching and point cloud generation; S4: 3D reconstruction; S5: Model optimization and post-processing, which refines the generated 3D model, removes noise and outliers, improves the accuracy of the model, and compresses the 3D model data for easy storage and transmission; S6: Integration and Automation: Integrate the laser scanning system and stereo vision system into a unified platform to automate data acquisition, processing and analysis.

5. A three-dimensional detection system for mine safety according to claim 4, characterized in that: The S2 includes: S21: Correcting sensor data: Correcting laser scanning data and camera images to eliminate or reduce sensor errors; S22: Data alignment: aligning the data collected by different three-dimensional acquisition devices into the same coordinate system through coordinate transformation and image registration.

6. A three-dimensional detection system for mine safety according to claim 5, characterized in that: The S3 comprises the following steps: S31: Feature extraction: extracting feature points from the laser scanning point cloud and camera image; S32: Stereo matching: Use stereo vision algorithms to perform feature matching between laser scanning point clouds and camera images to establish correspondence; S33: Generate point cloud: Generate a fused point cloud based on the matching result, combining the depth information of the laser scan and the texture information of the camera.

7. A three-dimensional detection system for mine safety according to claim 6, characterized in that: The S4 comprises the following steps: S41: Surface reconstruction: Combine the disparity information provided by the stereo vision algorithm and the precise depth information provided by the laser scanning algorithm to reconstruct the surface using point cloud data to generate a 3D model; S42: Texture mapping: Mapping the color information of the camera image onto the three-dimensional model to create a three-dimensional model with texture.

8. A three-dimensional detection system for mine safety according to claim 7, characterized in that: The UAV has autonomous navigation technology and realizes autonomous flight and path planning through SLAM based on the combination of vision and laser.

9. A three-dimensional detection system for mine safety according to claim 8, characterized in that: Also includes: User interface and remote control module, which is used to provide an interface for users to interact with the system, as well as remote control and monitoring functions; The data storage and security module is responsible for storing the collected and processed data and ensuring the security and privacy of the data.

10. A detection method for a three-dimensional detection system for mine safety according to claim 9, characterized in that: The following steps are involved: Step 1: The drone takes off and performs an aerial scan of the mine environment according to the preset route; Step 2: The 3D laser scanning device collects 3D point cloud data of the mining environment in real time and transmits it to the data acquisition and processing module; Step 3: The data acquisition and processing module pre-processes and performs point cloud registration on the received data to generate a three-dimensional model of the mining environment; Step 4: The 3D image rendering module renders the 3D model to generate a visual image of the mine environment; Step 5: The safety simulation and analysis module conducts safety simulation and analysis based on the three-dimensional model and mine safety rules, predicts potential safety hazards, and generates early warning information.

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