Method and device for accurately detecting hidden goaf of open pit coal mine based on three-dimensional laser scanning

Abstract

The invention provides a method and a device for accurately detecting a hidden goaf of an open pit coal mine based on three-dimensional laser scanning. The method comprises the following steps: acquiring operation data when drilling type three-dimensional laser outputs a scanning result; based on the operation data, obtaining a corresponding available coefficient through calculation; determining whether the available coefficient satisfies a first available condition; if the available coefficient satisfies the first available condition, determining whether the operation data satisfies a second available condition; and if the operation data meets the second available condition, drilling design is carried out according to the scanning result of the drilling type three-dimensional laser. Therefore, the drilling type three-dimensional laser scanning result is rechecked, and the drilling hole is designed based on the output scanning result under the condition that the output drilling type three-dimensional laser scanning result meets the corresponding available condition, so that the accuracy of the output drilling type three-dimensional laser scanning result is ensured; the rationality and coverage comprehensiveness of drill hole layout based on the scanning result are ensured, and the accuracy and efficiency of detection are ensured.

Description

Technical Field

[0001] The present invention relates to the field of void detection technology, and in particular to a method, device and storage medium for accurately detecting hidden voids in open-pit coal mines based on three-dimensional laser scanning. Background Art

[0002] At present, it is possible to accurately detect hidden empty areas in open-pit coal mines based on 3D laser scanning, so as to accurately identify and analyze hidden empty areas in open-pit coal mines through advanced 3D laser scanning technology and efficient data processing algorithms. Among them, the above method constructs a set of hierarchical precision detection process flow through the collaborative operation of drilling 3D laser scanning, sonar, SLAM drone and drilling technology. Specifically, the process covers the whole process from geophysical exploration to the next borehole design, including borehole design, drilling construction, toxic gas detection, temperature monitoring, visual inspection inside the borehole, CALS 3D laser scanning, sonar empty area detection and other key links. Through the above hierarchical detection process flow, comprehensive and systematic precision detection of hidden empty areas in open-pit coal mines is achieved.

[0003] Among them, the drilling design and CALS 3D laser scanning in the above detection process are two important steps, and the drilling design is the basis of the entire detection process. Specifically, the location and direction of the drilling can be designed according to the results of the drilling 3D laser scanning to ensure that the hidden empty area is covered. Based on this, reasonable and accurate drilling design can greatly improve the efficiency and accuracy of detection, and lay a solid foundation for subsequent drilling construction and data collection.

[0004] However, in the existing precise detection method of hidden empty areas in open-pit coal mines based on 3D laser scanning, the intuitive feedback of the drilling 3D laser scanning results is directly used for drilling design, and the drilling 3D laser scanning results are not monitored and reviewed. This may lead to unreasonable drilling layout or insufficient coverage area, thus affecting the accuracy and efficiency of detection. Summary of the invention

[0005] The present invention provides a method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, which is used to solve the technical problems arising in the above-mentioned related technologies.

[0006] To this end, the present invention proposes a method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, reviews the drilling three-dimensional laser scanning results, and designs the drilling based on the output scanning results when it is determined that the output drilling three-dimensional laser scanning results meet the corresponding available conditions, thereby ensuring the accuracy of the output drilling three-dimensional laser scanning results, and then ensuring the rationality and comprehensiveness of the drilling layout based on the scanning results, thereby ensuring the accuracy and efficiency of the detection.

[0007] Another object of the present invention is to provide a device for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning.

[0008] To achieve the above-mentioned purpose, the present invention proposes, on one hand, a method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, comprising:

[0009] Obtaining operation data when drilling 3D laser outputs scanning results;

[0010] Based on the operating data, a corresponding availability coefficient is obtained by calculation;

[0011] Determining whether the availability coefficient satisfies a first availability condition;

[0012] If the availability coefficient satisfies a first availability condition, determining whether the operation data satisfies a second availability condition;

[0013] If the operating data meets the second availability condition, drilling design is performed according to the scanning result of the drilling three-dimensional laser.

[0014] The method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning according to the embodiment of the present invention may also have the following additional technical features:

[0015] In one embodiment of the present invention, the operation data includes at least one of the following:

[0016] Resolution floating factor;

[0017] Image generation speed variation coefficient;

[0018] Output the incomplete coefficients.

[0019] In one embodiment of the present invention, when the operation data includes a resolution floating coefficient, the operation data when obtaining the drilling type three-dimensional laser output scanning result includes the resolution floating coefficient when obtaining the drilling type three-dimensional laser output scanning result;

[0020] The resolution floating coefficient when obtaining the drilling type three-dimensional laser output scanning result includes:

[0021] Acquire a drilling type three-dimensional laser scanning image, and decompose the image into approximate coefficients and detail coefficients of different scales by wavelet decomposition;

[0022] The variance of the detail coefficients at each scale is calculated to obtain the local variance;

[0023] Based on the sum of the local variance at each scale and the local variance at all scales, a resolution floating coefficient is obtained by calculation.

[0024] In one embodiment of the present invention, when the operation data includes the image generation speed variation coefficient, the operation data when obtaining the drilling type three-dimensional laser output scanning result includes the image generation speed variation coefficient when obtaining the drilling type three-dimensional laser output scanning result;

[0025] The image generation speed variation coefficient when obtaining the drilling type three-dimensional laser output scanning result includes:

[0026] Obtaining a first number of preset generated images within a preset time;

[0027] Obtaining a second number of images actually generated within a preset time;

[0028] An image generation speed variation coefficient is obtained by calculation based on the first number and the second number.

[0029] In one embodiment of the present invention, when the operation data includes an output incomplete coefficient, the operation data when obtaining the drilling type three-dimensional laser output scanning result includes an output incomplete coefficient when obtaining the drilling type three-dimensional laser output scanning result;

[0030] The output incomplete coefficient when obtaining the drilling type three-dimensional laser output scanning result includes:

[0031] Expanding the data packet of the main drilling type three-dimensional laser scanning result to obtain the expanded data packet of the main drilling type three-dimensional laser scanning, wherein the length of the expanded data packet is a preset length;

[0032] Performing a modulo-2 division operation on the expanded data packet and a preset value to obtain a remainder, wherein the preset value is a binary value of a preset length;

[0033] The remainder is added to the end of the data packet of the main drilling type 3D laser scanning result to obtain the result verification code of the main drilling type 3D laser scanning result;

[0034] Repeat the above steps for the data packet output by the drilling type three-dimensional laser to obtain the output verification code of the drilling type three-dimensional laser;

[0035] The result check code is compared with the output check code to obtain the output incomplete coefficient.

[0036] In one embodiment of the present invention, the operating data includes the output incomplete coefficient, the resolution floating coefficient and the image generation speed variation coefficient; the corresponding available coefficients are obtained by calculation based on the operating data, including:

[0037] Based on the output incomplete coefficient, the resolution floating coefficient and the image generation speed variation coefficient, the corresponding available coefficient is calculated by using an available coefficient formula, wherein the available coefficient formula is:

[0038]

[0039] Among them, the Lgh is the available coefficient, the ED represents the resolution floating coefficient, the Ch represents the image generation speed variation coefficient, the WG represents the output incomplete coefficient, the f1 represents the proportional coefficient of the resolution floating coefficient, the f2 is the proportional coefficient of the image generation speed variation coefficient, and the f3 represents the proportional coefficient of the output incomplete coefficient, and f1, f2, and f3 are all greater than 0.

[0040] In one embodiment of the present invention, determining whether the availability coefficient satisfies a first availability condition includes:

[0041] Determining whether the available coefficient is greater than or equal to a first preset threshold;

[0042] If the available coefficient is greater than or equal to the first preset threshold, it is determined that the available coefficient meets the first available condition.

[0043] In one embodiment of the present invention, determining whether the operating data satisfies the second availability condition includes:

[0044] Establishing a target data set of the operating data, and calculating a standard deviation corresponding to the target data set;

[0045] If the standard deviation is greater than or equal to a second preset threshold, it is determined that the operating data does not meet the second availability condition, a risk signal is generated and an early warning is issued;

[0046] If the standard deviation is less than the second preset threshold, it is determined that the operating data meets the second usability condition and a low risk signal is generated.

[0047] The second embodiment of the present invention proposes a device for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, comprising:

[0048] An acquisition module, used to acquire operation data when the drilling type three-dimensional laser outputs scanning results;

[0049] A calculation module, used for obtaining a corresponding availability coefficient by calculation based on the operation data;

[0050] A first determination module, used to determine whether the availability coefficient meets a first availability condition;

[0051] a second determination module, configured to determine whether the operation data satisfies a second availability condition if the availability coefficient satisfies the first availability condition;

[0052] A processing module is used to perform drilling design according to the scanning result of the drilling type three-dimensional laser if the operating data meets the second availability condition.

[0053] The computer device proposed in the embodiment of the third aspect of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method described in the first aspect above can be implemented.

[0054] The computer storage medium proposed in the fourth aspect of the embodiment of the present invention stores computer executable instructions; after the computer executable instructions are executed by the processor, the method described in the first aspect above can be implemented.

[0055] The invention provides a method and device for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, which obtains the operating data when the drilling three-dimensional laser outputs the scanning results; based on the operating data, obtains the corresponding availability coefficient by calculation; determines whether the availability coefficient meets the first availability condition; if the availability coefficient meets the first availability condition, determines whether the operating data meets the second availability condition; if the operating data meets the second availability condition, performs drilling design according to the scanning results of the drilling three-dimensional laser. It can be seen that the invention reviews the drilling three-dimensional laser scanning results, and designs the drilling based on the output scanning results when it is determined that the output drilling three-dimensional laser scanning results meet the corresponding availability conditions, thereby ensuring the accuracy of the output drilling three-dimensional laser scanning results, and then ensuring the rationality and comprehensiveness of the drilling layout based on the scanning results, thereby ensuring the accuracy and efficiency of the detection.

[0056] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0058] Figure 1 It is a flow chart of a method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning according to an embodiment of the present invention;

[0059] Figure 2 It is a schematic diagram of the structure of a device for accurately detecting hidden empty areas in an open-pit coal mine based on three-dimensional laser scanning according to an embodiment of the present invention. DETAILED DESCRIPTION

[0060] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0061] The following describes a method and device for accurately detecting hidden empty areas in an open-pit coal mine based on three-dimensional laser scanning according to an embodiment of the present invention with reference to the accompanying drawings.

[0062] Figure 1 The flowchart of the method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning according to one embodiment of the present invention is as follows: Figure 1 As shown, the method may include the following steps:

[0063] Step 101, obtaining operation data when the drilling type three-dimensional laser outputs scanning results;

[0064] In one embodiment of the present invention, the operation data of the drilling-type three-dimensional laser output scanning results can be obtained through the monitoring system.

[0065] In one embodiment of the present invention, the above-mentioned operation data may include at least one of the following:

[0066] Resolution floating factor;

[0067] Image generation speed variation coefficient;

[0068] Output the incomplete coefficients.

[0069] Furthermore, in one embodiment of the present invention, when the above-mentioned operating data includes a resolution floating coefficient, the above-mentioned operating data when obtaining the drilling type three-dimensional laser output scanning result may include the resolution floating coefficient when obtaining the drilling type three-dimensional laser output scanning result.

[0070] Specifically, in one embodiment of the present invention, the method for obtaining the resolution floating coefficient when the drilling type three-dimensional laser output scanning result is output may include the following steps:

[0071] Step 1011, obtaining a drilling type 3D laser scanning image, and decomposing the image into approximate coefficients and detail coefficients of different scales by wavelet decomposition;

[0072] Step 1012: Calculate the variance of the detail coefficients of each scale to obtain the local variance;

[0073] Step 1013: Based on the local variance at each scale and the sum of the local variances at all scales, a resolution floating coefficient is obtained by calculation.

[0074] In one embodiment of the present invention, an image X of a drilling-type three-dimensional laser scanning is obtained, and the image X is decomposed into approximate coefficients A of different scales j by wavelet decomposition. j and detail coefficient D j , for each scale j, the detail coefficient D j Calculate the variance using the formula LocalVariance j =Var(D j ) to get the local variance LocalVariance j , where Var represents the variance operator.

[0075] And, in one embodiment of the present invention, the method for calculating the resolution floating coefficient based on the local variance of each scale and the sum of the local variances at all scales may include: calculating the local variance LocalVariance at each scale j j The ratio of the local variance at all scales is calculated by adding the ratios of all scales and averaging them to get the resolution coefficient.

[0076] Specifically, in one embodiment of the present invention, the local variance LocalVariance at each scale j can be calculated by the first formula: j The ratio of ED to the sum of local variances at all scales j , where the first formula is:

[0077]

[0078] Where n is the total number of all scales.

[0079] And, in one embodiment of the present invention, the local variance LocalVariance on scale j is obtained through the above steps j The ratio of ED to the sum of local variances at all scales j After that, the ratios of all scales can be added and averaged to obtain the resolution floating coefficient ED. Among them, the above method can fully capture and explain the characteristics and changes in the data, so that the calculated resolution floating coefficient is more accurate and reliable.

[0080] Furthermore, in one embodiment of the present invention, when the above-mentioned operating data includes an image generation speed variation coefficient, the above-mentioned operating data when obtaining the drilling type three-dimensional laser output scanning result may include the image generation speed variation coefficient when obtaining the drilling type three-dimensional laser output scanning result.

[0081] In one embodiment of the present invention, the method for obtaining the image generation speed variation coefficient when the drilling type three-dimensional laser output scanning result is output may include the following steps:

[0082] Step 1: Obtain the first number Q of preset generated images within a preset time s ;

[0083] Step 2: Obtain the second number Q of images actually generated within a preset time f ;

[0084] Step 3: Based on the first quantity Q s and the second quantity Q f , the image generation speed variation coefficient is obtained by calculation.

[0085] In one embodiment of the present invention, the first quantity Q s and the second quantity Q f The method of calculating the image generation speed variation coefficient may include: based on the first quantity Q s and the second quantity a f , the image generation speed variation coefficient is calculated by the second formula, where the second formula is:

[0086]

[0087] Wherein, Ch is the image generation speed variation coefficient.

[0088] Furthermore, in one embodiment of the present invention, the preset time can be set according to needs or manual experience, such as 1 hour.

[0089] In one embodiment of the present invention, the preset number of generated images and the actual number of generated images are compared by the above method, and the deviation of the generation speed is obtained by the ratio, so as to help timely discover and handle the abnormality or fluctuation of the generation speed. In addition, the above method can adapt to different application scenarios and requirements, and has high flexibility.

[0090] Further, in one embodiment of the present invention, when the above-mentioned operating data includes an output incomplete coefficient, the operating data when obtaining the drilling type three-dimensional laser output scanning result may include an output incomplete coefficient when obtaining the drilling type three-dimensional laser output scanning result.

[0091] In one embodiment of the present invention, the method for obtaining the output incomplete coefficient when the drilling type three-dimensional laser output scanning result is output may include the following steps:

[0092] Step a, expanding the data packet of the main drilling type three-dimensional laser scanning result to obtain an expanded data packet of the main drilling type three-dimensional laser scanning, wherein the length of the expanded data packet is a preset length;

[0093] Step b, performing a modulo-2 division operation on the expanded data packet and a preset value to obtain a remainder, wherein the preset value is a binary value of a preset length;

[0094] Step c, adding the remainder to the end of the data packet of the main drilling type 3D laser scanning result to obtain the result verification code of the main drilling type 3D laser scanning result;

[0095] Step d, repeating the above steps with the data packet output by the drilling type three-dimensional laser to obtain the output verification code of the drilling type three-dimensional laser;

[0096] Step e: Compare the result check code with the output check code to obtain the output incomplete coefficient.

[0097] Among them, in one embodiment of the present invention, a certain number of zero bits can be added to the end of the data packet of the main drilling type three-dimensional laser scanning result to expand the data packet of the main drilling type three-dimensional laser scanning result, so that the length of each data packet of the main drilling type three-dimensional laser scanning result is a preset length.

[0098] Furthermore, in one embodiment of the present invention, the preset length and preset value can be set according to needs or manual experience. For example, the preset length is 10, and the preset value is 1110000111.

[0099] Further, in one embodiment of the present invention, the above-mentioned method of comparing the result check code with the output check code to obtain the output incomplete coefficient may include: comparing the result check code with the output check code to obtain the number of consistent comparisons WH and the number of inconsistent comparisons RS, and calculating the output incomplete coefficient WG through a third formula, wherein the third formula is: WG=RS / WH+RS.

[0100] Among them, the above method can effectively detect the integrity of the main drilling type three-dimensional laser rigid scanning results and the output data packet. At the same time, the method utilizes simple binary numbers and modulo-2 division operations. The calculation process is intuitive and simple, easy to implement and operate, and the comparison operation of the check code provides a reliable data integrity detection mechanism, which can effectively reduce errors and incompleteness in the data transmission and processing process. At the same time, the calculation and comparison operation of the check code can be performed in real time, which is helpful to timely discover and deal with incomplete or erroneous data, and the parameters of the fixed-length binary number and modulo-2 division operation can be adjusted according to different needs and conditions. It is suitable for a variety of scenarios and has high flexibility.

[0101] Step 102: Based on the operation data, obtain the corresponding availability coefficient by calculation;

[0102] In one embodiment of the present invention, after the operation data is obtained through the above steps, the corresponding availability coefficient can be obtained through calculation based on the operation data.

[0103] Specifically, in one embodiment of the present invention, if the above-mentioned operation data includes an output incomplete coefficient, a resolution floating coefficient, and an image generation speed variation coefficient, then the above-mentioned method for obtaining the corresponding available coefficient by calculation based on the operation data may include: obtaining the corresponding available coefficient by calculating the available coefficient formula based on the output incomplete coefficient, the resolution floating coefficient, and the image generation speed variation coefficient, wherein the available coefficient formula is:

[0104]

[0105] Among them, Lgh is the available coefficient, ED represents the resolution floating coefficient, Ch represents the image generation speed variation coefficient, WG represents the output incomplete coefficient, f1 represents the proportional coefficient of the resolution floating coefficient, f2 represents the proportional coefficient of the image generation speed variation coefficient, and f3 represents the proportional coefficient of the output incomplete coefficient, and f1, f2, and f3 are all greater than 0.

[0106] And, in one embodiment of the present invention, by comprehensively considering the three factors of resolution fluctuation, image generation speed change and incomplete output, the reliability of the drilling type three-dimensional laser output scanning result can be more comprehensively evaluated. Among them, in one embodiment of the present invention, the above-mentioned resolution fluctuation, image generation speed change and incomplete output cover multiple key aspects of the drilling type three-dimensional laser output scanning result, from the accuracy of resolution and the integrity of data to the efficiency of data generation, and can comprehensively evaluate the quality and reliability of data, with strong practicality and operability, and can more accurately evaluate the accuracy and precision of the drilling type three-dimensional laser output scanning result, thereby improving the credibility and reliability of the data, and can also be adjusted and optimized according to different application scenarios and environmental conditions, with strong flexibility and adaptability, and can meet different application requirements and data acquisition environments.

[0107] Step 103, determining whether the availability coefficient meets the first availability condition;

[0108] In one embodiment of the present invention, after obtaining the available coefficients through the above steps, it can be determined whether the available coefficients meet the first available condition, so as to determine whether the scanning results corresponding to the above operating data can be used.

[0109] Specifically, in one embodiment of the present invention, the method for determining whether the available coefficient satisfies the first available condition may include: determining whether the available coefficient is greater than or equal to a first preset threshold value; if the available coefficient is greater than or equal to the first preset threshold value, determining that the available coefficient satisfies the first available condition; otherwise, determining that the available coefficient does not satisfy the first available condition, and outputting a risk signal at this time to prompt that the above scanning result cannot be used directly and needs to be modified.

[0110] In one embodiment of the present invention, the first preset threshold can be set according to needs or manual experience.

[0111] Step 104: If the availability coefficient satisfies the first availability condition, determine whether the operation data satisfies the second availability condition;

[0112] In one embodiment of the present invention, after determining that the usable coefficient meets the first usable condition, it can be determined whether the operating data meets the second usable condition, so as to further determine whether the scanning result corresponding to the operating data can be used.

[0113] Specifically, in one embodiment of the present invention, the method for determining whether the operating data meets the second availability condition may include the following steps:

[0114] Step 1041: Establish a target data set of operating data, and calculate the standard deviation corresponding to the target data set;

[0115] Step 1042: If the standard deviation is greater than or equal to the second preset threshold, it is determined that the operating data does not meet the second availability condition, and a risk signal is generated and an early warning is issued;

[0116] Step 1043: If the standard deviation is less than the second preset threshold, it is determined that the operating data meets the second availability condition and a low risk signal is generated.

[0117] In one embodiment of the present invention, a target data set of the operating data may be established based on the operating data corresponding to the multiple scanning results, and a standard deviation corresponding to the target data set may be calculated.

[0118] For example, in one embodiment of the present invention, assuming that the operating data includes a resolution floating coefficient, an image generation speed variation coefficient, and an output incomplete coefficient, a first target data set of the resolution floating coefficient, a second target data set of the image generation speed variation coefficient, and a third target data set of the output incomplete coefficient are established respectively, and the first standard deviation corresponding to the first target data set, the second standard deviation of the image generation speed variation coefficient, and the third standard deviation of the output incomplete coefficient are calculated respectively. Among them, the first standard deviation, the second standard deviation, and the third standard deviation all have corresponding second preset thresholds.

[0119] Furthermore, in one embodiment of the present invention, if any of the above-mentioned first standard deviation, second standard deviation and third standard deviation is greater than or equal to the corresponding second preset threshold, it is determined that the operating data does not meet the second availability condition, a risk signal is generated and an early warning is issued; if the above-mentioned first standard deviation, second standard deviation and third standard deviation are all smaller than the corresponding second preset threshold, it is determined that the operating data meets the second availability condition, and a low-risk signal is generated.

[0120] In one embodiment of the present invention, the second preset threshold can be set according to needs or manual experience.

[0121] Step 105: If the operating data meets the second usable condition, drilling design is performed according to the scanning result of the drilling type three-dimensional laser.

[0122] Among them, in one embodiment of the present invention, after determining through the above steps that the operating data meets the second availability condition, it means that the scanning results corresponding to the operating data can be used. At this time, drilling design can be performed based on the scanning results of the drilling type three-dimensional laser.

[0123] The invention provides a method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, which obtains the operating data when the drilling three-dimensional laser outputs the scanning results; based on the operating data, the corresponding availability coefficient is calculated; it is determined whether the availability coefficient meets the first availability condition; if the availability coefficient meets the first availability condition, it is determined whether the operating data meets the second availability condition; if the operating data meets the second availability condition, the drilling design is performed according to the scanning results of the drilling three-dimensional laser. It can be seen that the invention reviews the drilling three-dimensional laser scanning results, and designs the drilling based on the output scanning results when it is determined that the output drilling three-dimensional laser scanning results meet the corresponding availability conditions, thereby ensuring the accuracy of the output drilling three-dimensional laser scanning results, and then ensuring the rationality and comprehensiveness of the drilling layout based on the scanning results, thereby ensuring the accuracy and efficiency of the detection.

[0124] Figure 2 The structure diagram of a device for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning according to the present invention is shown in FIG. Figure 2 As shown, the device may include:

[0125] An acquisition module 201 is used to acquire operation data when the drilling type three-dimensional laser outputs scanning results;

[0126] A calculation module 202, configured to obtain a corresponding availability coefficient by calculation based on the operation data;

[0127] A first determination module 203, used to determine whether the available coefficient meets a first available condition;

[0128] A second determination module 204 is used to determine whether the operating data meets a second availability condition if the availability coefficient meets the first availability condition;

[0129] The processing module 205 is used to perform drilling design according to the scanning result of the drilling type three-dimensional laser if the operation data meets the second usable condition.

[0130] In one embodiment of the present invention, the above-mentioned operation data includes at least one of the following:

[0131] Resolution floating factor;

[0132] Image generation speed variation coefficient;

[0133] Output the incomplete coefficients.

[0134] In one embodiment of the present invention, when the operating data includes a resolution floating coefficient, the acquisition module 201 is specifically configured to:

[0135] Obtain a drilling 3D laser scanning image, and decompose the image into approximate coefficients and detail coefficients of different scales by wavelet decomposition;

[0136] The variance of the detail coefficients at each scale is calculated to obtain the local variance;

[0137] The resolution floating coefficient is calculated based on the sum of the local variance at each scale and the local variance at all scales.

[0138] In one embodiment of the present invention, when the operating data includes the image generation speed variation coefficient, the acquisition module 201 is specifically configured to:

[0139] Obtaining a first number of preset generated images within a preset time;

[0140] Obtaining a second number of images actually generated within a preset time;

[0141] Based on the first number and the second number, an image generation speed variation coefficient is obtained by calculation.

[0142] In one embodiment of the present invention, when the operating data includes outputting incomplete coefficients, the acquisition module 201 is specifically configured to:

[0143] Expanding the data packet of the main drilling type 3D laser scanning result to obtain an expanded data packet of the main drilling type 3D laser scanning, wherein the length of the expanded data packet is a preset length;

[0144] Performing a modulo-2 division operation on the expanded data packet and a preset value to obtain a remainder, wherein the preset value is a binary value of a preset length;

[0145] The remainder is added to the end of the data packet of the main drilling type 3D laser scanning result to obtain the result check code of the main drilling type 3D laser scanning result;

[0146] Repeat the above steps for the data packet output by the drilling type three-dimensional laser to obtain the output verification code of the drilling type three-dimensional laser;

[0147] Compare the result check code with the output check code to obtain the output incomplete coefficient.

[0148] In one embodiment of the present invention, the operating data includes an output incompleteness coefficient, a resolution floating coefficient, and an image generation speed variation coefficient; the calculation module 202 is specifically used to:

[0149] Based on the output incomplete coefficient, the resolution floating coefficient and the image generation speed variation coefficient, the corresponding available coefficient is calculated by the available coefficient formula, where the available coefficient formula is:

[0150]

[0151] Among them, Lgh is the available coefficient, ED represents the resolution floating coefficient, Ch represents the image generation speed variation coefficient, WG represents the output incomplete coefficient, f1 represents the proportional coefficient of the resolution floating coefficient, f2 represents the proportional coefficient of the image generation speed variation coefficient, and f3 represents the proportional coefficient of the output incomplete coefficient, and f1, f2, and f3 are all greater than 0.

[0152] In one embodiment of the present invention, the first determining module 203 is specifically configured to:

[0153] determining whether the available coefficient is greater than or equal to a first preset threshold;

[0154] If the available coefficient is greater than or equal to the first preset threshold, it is determined that the available coefficient meets the first available condition.

[0155] In one embodiment of the present invention, the second determining module 204 is specifically configured to:

[0156] Establish a target data set for the operating data and calculate the standard deviation corresponding to the target data set;

[0157] If the standard deviation is greater than or equal to the second preset threshold, it is determined that the operating data does not meet the second availability condition, and a risk signal is generated and an early warning is issued;

[0158] If the standard deviation is less than the second preset threshold, it is determined that the operating data meets the second usability condition and a low risk signal is generated.

[0159] The invention provides a device for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, which obtains the operating data when the drilling three-dimensional laser outputs the scanning result; based on the operating data, obtains the corresponding availability coefficient by calculation; determines whether the availability coefficient meets the first availability condition; if the availability coefficient meets the first availability condition, determines whether the operating data meets the second availability condition; if the operating data meets the second availability condition, performs drilling design according to the scanning result of the drilling three-dimensional laser. It can be seen that the invention reviews the drilling three-dimensional laser scanning result, and designs the drilling based on the output scanning result when it is determined that the output drilling three-dimensional laser scanning result meets the corresponding availability condition, thereby ensuring the accuracy of the output drilling three-dimensional laser scanning result, and then ensuring the rationality and comprehensiveness of the drilling layout based on the scanning result, thereby ensuring the accuracy and efficiency of the detection.

[0160] In order to implement the above embodiment, the present invention also provides a computer device.

[0161] The computer device provided in the embodiment of the present invention includes a memory, a processor and a computer program stored in the memory and executable on the processor; when the processor executes the program, the following can be achieved: Figure 1 The method shown.

[0162] In order to implement the above embodiment, the present invention also provides a computer storage medium.

[0163] The computer storage medium provided in the embodiment of the present invention stores computer executable instructions; after the computer executable instructions are executed by the processor, the following can be achieved: Figure 1 The method shown.

[0164] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0165] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0166] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, characterized in that: include: Obtaining operation data when drilling 3D laser outputs scanning results; Based on the operating data, a corresponding availability coefficient is obtained by calculation; Determining whether the availability coefficient satisfies a first availability condition; If the availability coefficient satisfies a first availability condition, determining whether the operation data satisfies a second availability condition; If the operating data meets the second availability condition, drilling design is performed according to the scanning result of the drilling three-dimensional laser.

2. The method according to claim 1, characterized in that The operation data includes at least one of the following: Resolution floating factor; Image generation speed variation coefficient; Output the incomplete coefficients.

3. The method according to claim 2, characterized in that When the operation data includes a resolution floating coefficient, the operation data when obtaining the drilling type three-dimensional laser output scanning result includes the resolution floating coefficient when obtaining the drilling type three-dimensional laser output scanning result; The resolution floating coefficient when obtaining the drilling type three-dimensional laser output scanning result includes: Acquire a drilling type three-dimensional laser scanning image, and decompose the image into approximate coefficients and detail coefficients of different scales by wavelet decomposition; The variance of the detail coefficients at each scale is calculated to obtain the local variance; The resolution floating coefficient is obtained by calculation based on the sum of the local variance at each scale and the local variance at all scales.

4. The method according to claim 2, characterized in that When the operation data includes the image generation speed variation coefficient, the operation data when obtaining the drilling type three-dimensional laser output scanning result includes the image generation speed variation coefficient when obtaining the drilling type three-dimensional laser output scanning result; The image generation speed variation coefficient when obtaining the drilling type three-dimensional laser output scanning result includes: Obtaining a first number of preset generated images within a preset time; Obtaining a second number of images actually generated within a preset time; An image generation speed variation coefficient is obtained by calculation based on the first number and the second number.

5. The method according to claim 2, characterized in that When the operation data includes an output incomplete coefficient, the operation data when obtaining the drilling type three-dimensional laser output scanning result includes an output incomplete coefficient when obtaining the drilling type three-dimensional laser output scanning result; The output incomplete coefficient when obtaining the drilling type three-dimensional laser output scanning result includes: Expanding the data packet of the main drilling type three-dimensional laser scanning result to obtain the expanded data packet of the main drilling type three-dimensional laser scanning, wherein the length of the expanded data packet is a preset length; Performing a modulo-2 division operation on the expanded data packet and a preset value to obtain a remainder, wherein the preset value is a binary value of a preset length; The remainder is added to the end of the data packet of the main drilling type 3D laser scanning result to obtain the result verification code of the main drilling type 3D laser scanning result; Repeat the above steps for the data packet output by the drilling type three-dimensional laser to obtain the output verification code of the drilling type three-dimensional laser; The result check code is compared with the output check code to obtain the output incomplete coefficient.

6. The method according to claim 2, characterized in that The operation data includes the output incomplete coefficient, the resolution floating coefficient and the image generation speed variation coefficient; the corresponding available coefficients are obtained by calculation based on the operation data, including: Based on the output incomplete coefficient, the resolution floating coefficient and the image generation speed variation coefficient, the corresponding available coefficient is calculated by using an available coefficient formula, wherein the available coefficient formula is: Among them, the Lgh is the available coefficient, the ED represents the resolution floating coefficient, the Ch represents the image generation speed variation coefficient, the WG represents the output incomplete coefficient, the f1 represents the proportional coefficient of the resolution floating coefficient, the f2 is the proportional coefficient of the image generation speed variation coefficient, and the f3 represents the proportional coefficient of the output incomplete coefficient, and f1, f2, and f3 are all greater than 0.

7. The method according to claim 1, characterized in that The determining whether the availability coefficient satisfies a first availability condition includes: Determining whether the available coefficient is greater than or equal to a first preset threshold; If the available coefficient is greater than or equal to the first preset threshold, it is determined that the available coefficient meets the first available condition.

8. The method according to claim 1, characterized in that The determining whether the operation data satisfies a second availability condition comprises: Establishing a target data set of the operating data, and calculating a standard deviation corresponding to the target data set; If the standard deviation is greater than or equal to a second preset threshold, it is determined that the operating data does not meet the second availability condition, a risk signal is generated and an early warning is issued; If the standard deviation is less than the second preset threshold, it is determined that the operating data meets the second usability condition and a low risk signal is generated.

9. A device for accurately detecting hidden empty areas in open-pit coal mines based on three-dimensional laser scanning, characterized in that: include: An acquisition module, used to acquire operation data when the drilling type three-dimensional laser outputs scanning results; A calculation module, used for obtaining a corresponding availability coefficient by calculation based on the operation data; A first determination module, used to determine whether the availability coefficient meets a first availability condition; a second determination module, configured to determine whether the operation data satisfies a second availability condition if the availability coefficient satisfies the first availability condition; A processing module is used to perform drilling design according to the scanning result of the drilling type three-dimensional laser if the operating data meets the second availability condition.

10. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions; after the computer executable instructions are executed by the processor, the method described in any one of claims 1 to 8 can be implemented.

Images