Precise detection method and device for hidden empty areas in open-pit coal mines based on 3D laser scanning

Abstract

The present invention provides a method and apparatus for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, comprising: acquiring operational data when obtaining the output scanning results of a borehole-type three-dimensional laser; calculating the corresponding availability coefficient based on the operational data; determining whether the availability coefficient meets a first availability condition; if the availability coefficient meets the first availability condition, determining whether the operational data meets a second availability condition; if the operational data meets the second availability condition, designing boreholes based on the scanning results of the borehole-type three-dimensional laser. Thus, the present invention reviews the borehole-type three-dimensional laser scanning results, and, if the output borehole-type three-dimensional laser scanning results meet the corresponding availability conditions, designs boreholes based on the output scanning results, thereby ensuring the accuracy of the output borehole-type three-dimensional laser scanning results, and further ensuring the rationality and comprehensiveness of the borehole layout based on the scanning results, thus guaranteeing the accuracy and efficiency of the detection.

Description

Technical Field

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

[0002] Currently, precise detection of hidden voids in open-pit coal mines can be achieved based on 3D laser scanning. This method utilizes advanced 3D laser scanning technology and efficient data processing algorithms to accurately identify and analyze these voids. Specifically, this approach employs a hierarchical precision detection process, combining borehole-type 3D laser scanning, sonar, SLAM drones, and drilling technology. This process encompasses the entire process from geophysical exploration to the next borehole design, including key steps such as borehole design, drilling operations, toxic gas detection, temperature monitoring, borehole interior visual inspection, CALS 3D laser scanning, and sonar void detection. Through this hierarchical detection process, comprehensive and systematic precision detection of hidden voids in open-pit coal mines is achieved.

[0003] Among the aforementioned detection processes, borehole design and CALS 3D laser scanning are two crucial steps, with borehole design forming the foundation of the entire detection process. Specifically, the location and orientation of the borehole can be designed based on the results of the borehole-based 3D laser scanning to ensure coverage of concealed areas. Therefore, a reasonable and precise borehole design can significantly improve the efficiency and accuracy of detection, laying a solid foundation for subsequent drilling operations and data collection.

[0004] However, existing methods for precise detection of hidden voids in open-pit coal mines based on 3D laser scanning directly use the intuitive feedback from borehole-type 3D laser scanning results for borehole design, without monitoring and reviewing the borehole-type 3D laser scanning results. This may result in an unreasonable borehole layout or insufficient coverage area, thus affecting the accuracy and efficiency of the detection. Summary of the Invention

[0005] This invention provides a method for accurate detection of hidden voids in open-pit coal mines based on three-dimensional laser scanning, which solves the technical problems that have arisen in the aforementioned related technologies.

[0006] To address this, the present invention proposes a method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning. The method involves reviewing the results of borehole-type three-dimensional laser scanning. If the output results of the borehole-type three-dimensional laser scanning meet the corresponding usability conditions, the boreholes are designed based on the output scanning results. This ensures the accuracy of the output results of the borehole-type three-dimensional laser scanning, thereby ensuring the rationality and comprehensiveness of the borehole layout based on the scanning results, and guaranteeing the accuracy and efficiency of the detection.

[0007] Another objective of this invention is to propose a precise detection device for concealed voids in open-pit coal mines based on three-dimensional laser scanning.

[0008] To achieve the above objectives, this invention proposes a method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, comprising:

[0009] Operational data for acquiring drilling-type 3D laser output scanning results;

[0010] Based on the aforementioned operational data, the corresponding usable coefficients are calculated.

[0011] Determine whether the availability coefficient satisfies the first availability condition;

[0012] If the availability coefficient satisfies the first availability condition, then determine whether the running data satisfies the second availability condition;

[0013] If the operating data meets the second availability condition, then drilling design is performed based on the scanning results of the drilling-type three-dimensional laser.

[0014] The method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, as described in this embodiment of the invention, may also have the following additional technical features:

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

[0016] Resolution fluctuation factor;

[0017] Image generation speed variation coefficient;

[0018] Output incomplete coefficients.

[0019] In one embodiment of the present invention, when the running data includes a resolution fluctuation coefficient, the running data for obtaining the drilling-type three-dimensional laser output scanning result includes the resolution fluctuation coefficient for obtaining the drilling-type three-dimensional laser output scanning result.

[0020] The resolution fluctuation coefficient when acquiring the drilling-type three-dimensional laser output scanning results includes:

[0021] The image of the borehole-type three-dimensional laser scan is acquired, and the image is decomposed into approximation coefficients and detail coefficients at different scales by wavelet decomposition;

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

[0023] The resolution fluctuation coefficient is calculated based on the local variance at each scale and the sum of the local variances at all scales.

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

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

[0026] Get the first number of images generated within a preset time period;

[0027] Obtain the second number of images actually generated within a preset time period;

[0028] Based on the first quantity and the second quantity, the image generation speed variation coefficient is calculated.

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

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

[0031] The data packet of the obtained main borehole type three-dimensional laser scanning result is expanded to obtain the expanded data packet of the main borehole type three-dimensional laser scanning, wherein the length of the expanded data packet is a preset length.

[0032] The remainder is obtained by performing a modulo-2 division operation between the expanded data packet and a preset value, wherein the preset value is a binary value of a preset length;

[0033] The remainder is appended to the end of the data packet of the main drilling type three-dimensional laser scanning result to obtain the result check code of the main drilling type three-dimensional laser scanning.

[0034] Repeat the above steps with the data packet output by the drilling-type 3D laser to obtain the output check code of the drilling-type 3D laser;

[0035] The result check code and the output check code are compared to obtain the output incompleteness coefficient.

[0036] In one embodiment of the present invention, the operating data includes the output incompleteness coefficient, the resolution fluctuation coefficient, and the image generation speed variation coefficient; the step of calculating the corresponding usable coefficient based on the operating data includes:

[0037] Based on the output incompleteness coefficient, the resolution fluctuation coefficient, and the image generation speed variation coefficient, the corresponding usable coefficient is calculated using the usable coefficient formula, wherein the usable coefficient formula is:

[0038]

[0039] Wherein, Lgh is the available coefficient, ED represents the resolution fluctuation coefficient, Ch represents the image generation speed change coefficient, WG represents the output incompleteness coefficient, f1 represents the proportional coefficient of the resolution fluctuation coefficient, f2 is the proportional coefficient of the image generation speed change coefficient, and f3 represents the proportional coefficient of the output incompleteness 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 the first availability condition includes:

[0041] Determine 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, then the available coefficient is determined to satisfy the first availability condition.

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

[0044] Establish a target data set for the operational data and calculate the standard deviation corresponding to the target data set;

[0045] 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 usability condition, a risk signal is generated and an early warning is issued;

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

[0047] A second aspect of the present invention provides a precise detection device for concealed voids in open-pit coal mines based on three-dimensional laser scanning, comprising:

[0048] The acquisition module is used to acquire the running data when drilling 3D laser output scanning results;

[0049] The calculation module is used to calculate the corresponding available coefficients based on the running data;

[0050] The first determining module is used to determine whether the available coefficients meet the first available condition;

[0051] The second determining module is used to determine whether the running data meets the second availability condition if the availability coefficient meets the first availability condition;

[0052] The processing module is used to perform drilling design based on the scanning results of the drilling-type three-dimensional laser if the running data meets the second availability condition.

[0053] The computer device proposed in 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, it is able to implement the method described in the first aspect above.

[0054] The computer storage medium proposed in the fourth aspect of the present invention stores computer-executable instructions; after being executed by a processor, the computer-executable instructions can implement the method described in the first aspect above.

[0055] This invention provides a method and apparatus for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning. The method acquires operational data from the output scan results of a borehole-type three-dimensional laser scan. Based on this data, a corresponding availability coefficient is calculated. The method then determines whether the availability coefficient meets a first availability condition. If the availability coefficient meets the first availability condition, it determines whether the operational data meets a second availability condition. If the operational data meets the second availability condition, borehole design is performed based on the borehole-type three-dimensional laser scan results. Therefore, this invention reviews the borehole-type three-dimensional laser scan results. If the output borehole-type three-dimensional laser scan results meet the corresponding availability conditions, the borehole is designed based on the output scan results. This ensures the accuracy of the output borehole-type three-dimensional laser scan results, thereby ensuring the rationality and comprehensiveness of the borehole layout based on these scan results, and guaranteeing the accuracy and efficiency of the detection.

[0056] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

[0058] Figure 1 This is a flowchart illustrating a method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, according to an embodiment of the present invention.

[0059] Figure 2 This is a schematic diagram of the structure of a precision detection device for concealed voids in open-pit coal mines based on three-dimensional laser scanning, according to an embodiment of the present invention. Detailed Implementation

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

[0061] The following describes, with reference to the accompanying drawings, a method and apparatus for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, according to embodiments of the present invention.

[0062] Figure 1 This is a flowchart illustrating a method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0063] Step 101: Obtain the running data when obtaining the drilling-type 3D laser output scanning results;

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

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

[0066] Resolution fluctuation factor;

[0067] Image generation speed variation coefficient;

[0068] Output incomplete coefficients.

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

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

[0071] Step 1011: Obtain the image of the borehole-type 3D laser scanning, and decompose the image into approximation coefficients and detail coefficients of different scales through wavelet decomposition;

[0072] Step 1012: Calculate the variance of the detail coefficients at 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, the resolution fluctuation coefficient is calculated.

[0074] In one embodiment of the present invention, an image X from a borehole-type three-dimensional laser scan is acquired, and the image X is decomposed into approximate coefficients A at different scales j using wavelet decomposition. j and detail factor D j For each scale j, the detail coefficient D j Variance is calculated using the formula LocalVariance. j =Var(D j Local variance is obtained. j , where Var represents the variance operator.

[0075] Furthermore, in one embodiment of the present invention, the method for calculating the resolution fluctuation coefficient based on the sum of the local variances at each scale and all scales may include: calculating the local variance (LocalVariance) at each scale j. j The resolution fluctuation coefficient is obtained by taking the ratio of the sum of the local variances at all scales and summing the ratios at all scales.

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

[0077]

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

[0079] Furthermore, in one embodiment of the present invention, the local variance (LocalVariance) at scale j is obtained through the above steps. j The ratio ED to the sum of local variances across all scales j Then, the ratios of all scales can be summed and averaged to obtain the resolution fluctuation coefficient ED. This method comprehensively captures and interprets the features and changes in the data, resulting in a more accurate and reliable calculated resolution fluctuation coefficient.

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

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

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

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

[0084] Step 3, based on the first quantity Q s Second quantity Q f The coefficient of change of image generation speed is obtained by calculation.

[0085] In one embodiment of the present invention, the above is based on the first quantity Q s Second quantity Q f Methods for calculating the image generation rate change coefficient may include: based on a first quantity Q s Second quantity a f The image generation speed variation coefficient is calculated using the second formula, which is:

[0086]

[0087] Where Ch is the coefficient of change in image generation speed.

[0088] Furthermore, in one embodiment of the present invention, the aforementioned preset time can be set according to needs or human experience, for example, 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 using the above method, and the deviation in generation speed is obtained through the ratio, thereby helping to promptly detect and handle abnormalities or fluctuations in generation speed. Furthermore, the above method can adapt to different application scenarios and needs, exhibiting high flexibility.

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

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

[0092] Step a: Expand the data packet of the obtained main borehole type 3D laser scanning result to obtain the expanded data packet of the main borehole type 3D laser scanning, wherein the length of the expanded data packet is a preset length.

[0093] Step b: Perform a modulo-2 division operation between the expanded data packet and the preset value to obtain the remainder, where the preset value is a binary value of preset length;

[0094] Step c: Append the remainder 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.

[0095] Step d: Repeat the above steps with the data packet output by the drilling 3D laser to obtain the output check code of the drilling 3D laser.

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

[0097] In one embodiment of the present invention, a certain number of zeros 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 aforementioned preset length and preset value can be set as needed or by human experience. For example, the preset length is 10 and the preset value is 1110000111.

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

[0100] The above method can effectively detect the integrity of the main drilling 3D laser scanning results and output data packets. It utilizes simple binary numbers and modulo-2 division operations, making the calculation process intuitive, simple, easy to implement and operate. Furthermore, the checksum comparison operation provides a reliable data integrity detection mechanism, effectively reducing errors and incompleteness during data transmission and processing. The checksum calculation and comparison operations can be performed in real time, helping to promptly detect and handle incomplete or erroneous data. Moreover, the parameters of the fixed-length binary numbers and modulo-2 division operation can be adjusted according to different needs and conditions, making it applicable to various scenarios and highly flexible.

[0101] Step 102: Based on the operational data, calculate the corresponding usable coefficients;

[0102] In one embodiment of the present invention, after obtaining the running data through the above steps, the corresponding available coefficients can be calculated based on the running data.

[0103] Specifically, in one embodiment of the present invention, if the aforementioned operating data includes an output incompleteness coefficient, a resolution fluctuation coefficient, and an image generation speed variation coefficient, then the method for calculating the corresponding usable coefficient based on the operating data may include: calculating the corresponding usable coefficient using a usable coefficient formula based on the output incompleteness coefficient, the resolution fluctuation coefficient, and the image generation speed variation coefficient, wherein the usable coefficient formula is:

[0104]

[0105] Where Lgh is the available coefficient, ED is the resolution fluctuation coefficient, Ch is the image generation speed change coefficient, WG is the output incompleteness coefficient, f1 is the proportional coefficient of the resolution fluctuation coefficient, f2 is the proportional coefficient of the image generation speed change coefficient, and f3 is the proportional coefficient of the output incompleteness coefficient, and f1, f2, and f3 are all greater than 0.

[0106] Furthermore, in one embodiment of the present invention, by comprehensively considering the three factors of resolution fluctuation, image generation speed variation, and output incompleteness, the reliability of the drilling-type 3D laser output scanning results can be evaluated more comprehensively. In this embodiment, the aforementioned resolution fluctuation, image generation speed variation, and output incompleteness cover multiple key aspects of the drilling-type 3D laser output scanning results, from resolution accuracy and data integrity to data generation efficiency. This allows for a comprehensive evaluation of data quality and reliability, demonstrating strong practicality and operability. It can more accurately assess the accuracy and precision of the drilling-type 3D laser output scanning results, thereby improving data credibility and reliability. Simultaneously, it can be adjusted and optimized according to different application scenarios and environmental conditions, exhibiting strong flexibility and adaptability, and can meet different application needs and data acquisition environments.

[0107] Step 103: Determine whether the availability coefficient meets the first availability condition;

[0108] In one embodiment of the present invention, after obtaining the availability coefficient through the above steps, it can be determined whether the availability coefficient meets the first availability condition, so as to determine whether the scan result corresponding to the above running data can be used.

[0109] Specifically, in one embodiment of the present invention, the method for determining whether the available coefficient meets the first available condition may include: 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, then determining that the available coefficient meets the first available condition; otherwise, determining that the available coefficient does not meet the first available condition, and at this time outputting a risk signal to indicate that the above scanning results cannot be used directly and need to be modified.

[0110] In one embodiment of the present invention, the first preset threshold can be set as needed or based on human experience.

[0111] Step 104: If the availability coefficient meets the first availability condition, then determine whether the running data meets the second availability condition;

[0112] In one embodiment of the present invention, after determining that the availability coefficient meets the first availability condition, it can be determined whether the running data meets the second availability condition, so as to further determine whether the scan results corresponding to the running 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 the target data set for the running 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 running data does not meet the second usability condition, 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, then the running data is determined to meet the second usability condition, and a low-risk signal is generated.

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

[0118] For example, in one embodiment of the present invention, assuming the running data includes a resolution fluctuation coefficient, an image generation speed variation coefficient, and an output incompleteness coefficient, a first target data set for the resolution fluctuation coefficient, a second target data set for the image generation speed variation coefficient, and a third target data set for the output incompleteness coefficient are established respectively. A first standard deviation corresponding to the first target data set, a second standard deviation for the image generation speed variation coefficient, and a third standard deviation for the output incompleteness coefficient are calculated respectively. Each of the first, second, and third standard deviations has a corresponding second preset threshold.

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

[0120] In one embodiment of the present invention, the second preset threshold can be set as needed or based on human experience.

[0121] Step 105: If the running data meets the second usability condition, then perform drilling design based on the scanning results of the drilling-type 3D laser.

[0122] In one embodiment of the present invention, after determining that the running data meets the second usability condition through the above steps, it is indicated that the scanning result corresponding to the running data can be used. At this time, drilling design can be performed based on the scanning result of the drilling-type three-dimensional laser.

[0123] This invention provides a method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning. The method acquires operational data from the output scan results of a borehole-type three-dimensional laser scanner. Based on this data, a corresponding availability coefficient is calculated. The method then determines whether the availability coefficient meets a first availability condition. If the availability coefficient meets the first availability condition, it determines whether the operational data meets a second availability condition. If the operational data meets the second availability condition, borehole design is performed based on the borehole-type three-dimensional laser scanning results. Therefore, this invention reviews the borehole-type three-dimensional laser scanning results. If the output borehole-type three-dimensional laser scanning results meet the corresponding availability conditions, the method designs boreholes based on the output scan results, thereby ensuring the accuracy of the output borehole-type three-dimensional laser scanning results. This, in turn, ensures the rationality and comprehensiveness of the borehole layout based on the scan results, guaranteeing the accuracy and efficiency of the detection.

[0124] Figure 2 This is a schematic diagram of the structure of a precise detection device for concealed voids in open-pit coal mines based on three-dimensional laser scanning according to the present invention. Figure 2 As shown, the device may include:

[0125] The acquisition module 201 is used to acquire the running data when the drilling-type three-dimensional laser output scanning results are obtained;

[0126] Calculation module 202 is used to calculate the corresponding available coefficients based on the running data;

[0127] The first determining module 203 is used to determine whether the availability coefficient meets the first availability condition;

[0128] The second determining module 204 is used to determine whether the running data meets the second availability condition if the availability coefficient meets the first availability condition;

[0129] The processing module 205 is used to perform drilling design based on the scanning results of the drilling-type three-dimensional laser if the running data meets the second availability condition.

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

[0131] Resolution fluctuation factor;

[0132] Image generation speed variation coefficient;

[0133] Output incomplete coefficients.

[0134] In one embodiment of the present invention, when the above-mentioned operating data includes a resolution fluctuation coefficient, the above-mentioned acquisition module 201 is specifically used for:

[0135] The image of the borehole-type 3D laser scan is acquired, and the image is decomposed into approximation coefficients and detail coefficients at different scales through wavelet decomposition.

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

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

[0138] In one embodiment of the present invention, when the above-mentioned operating data includes an image generation speed variation coefficient, the above-mentioned acquisition module 201 is specifically used for:

[0139] Get the first number of images generated within a preset time period;

[0140] Obtain the second number of images actually generated within a preset time period;

[0141] Based on the first and second quantities, the coefficient of change of image generation speed is calculated.

[0142] In one embodiment of the present invention, when the above-mentioned operating data includes incomplete output coefficients, the above-mentioned acquisition module 201 is specifically used for:

[0143] The data packet of the obtained main borehole type 3D laser scanning result is expanded to obtain the expanded data packet of the main borehole type 3D laser scanning, wherein the length of the expanded data packet is a preset length.

[0144] The remainder is obtained by performing a modulo-2 division operation between the expanded data packet and the preset value, where the preset value is a binary value of preset length;

[0145] The remainder is appended 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.

[0146] Repeat the above steps to obtain the output check code of the drilling 3D laser by passing the data packet output by the drilling 3D laser.

[0147] The result check code and the output check code are compared to obtain the output incompleteness coefficient.

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

[0149] Based on the output incompleteness coefficient, resolution fluctuation coefficient, and image generation speed variation coefficient, the corresponding usable coefficient is calculated using the usable coefficient formula, where the usable coefficient formula is:

[0150]

[0151] Where Lgh is the available coefficient, ED is the resolution fluctuation coefficient, Ch is the image generation speed change coefficient, WG is the output incompleteness coefficient, f1 is the proportional coefficient of the resolution fluctuation coefficient, f2 is the proportional coefficient of the image generation speed change coefficient, and f3 is the proportional coefficient of the output incompleteness 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 used for:

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

[0154] If the available coefficient is greater than or equal to the first preset threshold, then the available coefficient is determined to meet the first availability condition.

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

[0156] Establish the target dataset for the operational data and calculate the standard deviation of the target dataset.

[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 usability condition, a risk signal is generated and an early warning is issued;

[0158] If the standard deviation is less than the second preset threshold, the running data is determined to meet the second usability condition, and a low-risk signal is generated.

[0159] This invention provides a precise detection device for concealed voids in open-pit coal mines based on three-dimensional laser scanning. It acquires operational data from the output scan results of a borehole-type three-dimensional laser scan. Based on this data, it calculates the corresponding availability coefficient. It then determines whether the availability coefficient meets a first availability condition. If the availability coefficient meets the first availability condition, it determines whether the operational data meets a second availability condition. If the operational data meets the second availability condition, it designs boreholes based on the borehole-type three-dimensional laser scan results. Therefore, this invention reviews the borehole-type three-dimensional laser scan results. If the output borehole-type three-dimensional laser scan results meet the corresponding availability conditions, it designs boreholes based on the output scan results, thereby ensuring the accuracy of the output borehole-type three-dimensional laser scan results. This, in turn, ensures the rationality and comprehensiveness of the borehole layout based on the scan results, guaranteeing the accuracy and efficiency of the detection.

[0160] To implement the above embodiments, the present invention also proposes a computer device.

[0161] The computer device provided in this embodiment of the 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, it can achieve the following: Figure 1 The method shown.

[0162] To implement the above embodiments, the present invention also proposes a computer storage medium.

[0163] The computer storage medium provided in this embodiment of the invention stores computer-executable instructions; after being executed by a processor, the computer-executable instructions can achieve the following: Figure 1 The method shown.

[0164] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0165] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

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

Claims

1. A method for precise detection of concealed voids in open-pit coal mines based on three-dimensional laser scanning, characterized in that, include: Operational data for acquiring drilling-type 3D laser output scanning results; Based on the aforementioned operational data, the corresponding usable coefficients are calculated. Determine whether the availability coefficient satisfies the first availability condition; If the availability coefficient satisfies the first availability condition, then determine whether the running data satisfies the second availability condition; If the operating data meets the second availability condition, then drilling design is performed based on the scanning results of the drilling-type three-dimensional laser. The operational data includes: Resolution fluctuation factor; Image generation speed variation coefficient; Output incomplete coefficients; The calculation of the corresponding usable coefficient based on the operational data includes: Based on the output incompleteness coefficient, the resolution fluctuation coefficient, and the image generation speed variation coefficient, the corresponding usable coefficient is calculated using the usable coefficient formula, wherein the usable coefficient formula is: Among them, the The available coefficient, the This represents the resolution fluctuation coefficient, the The coefficient representing the rate of change of the image generation speed, the This represents the output incompleteness coefficient, the The scaling factor representing the resolution fluctuation coefficient, the The scaling factor for generating the velocity change coefficient of the image and the This represents the scaling factor for the incomplete output coefficient, and All are greater than 0; Determining whether the availability coefficient satisfies the first availability condition includes: Determine 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, then the available coefficient is determined to satisfy the first availability condition; Determining whether the running data meets the second availability condition includes: Establish a target data set for the operational data and calculate the standard deviation corresponding to the target data set; 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 usability condition, a risk signal is generated and an early warning is issued; If the standard deviation is less than the second preset threshold, the operating data is determined to meet the second usability condition, and a low-risk signal is generated.

2. The method as described in claim 1, characterized in that, When the operating data includes a resolution fluctuation coefficient, the operating data for obtaining the drilling-type three-dimensional laser output scanning results includes the resolution fluctuation coefficient for obtaining the drilling-type three-dimensional laser output scanning results. The resolution fluctuation coefficient when acquiring the drilling-type three-dimensional laser output scanning results includes: The image of the borehole-type three-dimensional laser scan is acquired, and the image is decomposed into approximation coefficients and detail coefficients at different scales by wavelet decomposition; The variance of the detail coefficients at each scale is calculated to obtain the local variance. The resolution fluctuation coefficient is calculated based on the local variance at each scale and the sum of the local variances at all scales.

3. The method as described in claim 1, characterized in that, When the operating data includes the image generation speed variation coefficient, the operating data for obtaining the drilling-type three-dimensional laser output scanning results includes the image generation speed variation coefficient for obtaining the drilling-type three-dimensional laser output scanning results. The image generation speed variation coefficient when acquiring the drilling-type three-dimensional laser output scanning results includes: Get the first number of images generated within a preset time period; Obtain the second number of images actually generated within a preset time period; Based on the first quantity and the second quantity, the image generation speed variation coefficient is calculated.

4. The method as described in claim 1, characterized in that, When the operating data includes an output incompleteness coefficient, the operating data for obtaining the drilling-type three-dimensional laser output scanning result includes the output incompleteness coefficient for obtaining the drilling-type three-dimensional laser output scanning result; The output incompleteness coefficient when obtaining the drilling-type three-dimensional laser output scanning results includes: The data packet of the obtained main borehole type three-dimensional laser scanning result is expanded to obtain the data packet of the main borehole type three-dimensional laser scanning expanded, wherein the length of the expanded data packet is a preset length; The remainder is obtained by performing a modulo-2 division operation between the expanded data packet and a preset value, wherein the preset value is a binary value of a preset length; The remainder is appended to the end of the data packet of the main drilling type three-dimensional laser scanning result to obtain the result check code of the main drilling type three-dimensional laser scanning. Repeat the above steps with the data packet output by the drilling-type 3D laser to obtain the output check code of the drilling-type 3D laser; The result check code and the output check code are compared to obtain the output incompleteness coefficient.

5. A precise detection device for concealed voids in open-pit coal mines based on three-dimensional laser scanning, characterized in that, include: The acquisition module is used to acquire the running data when drilling 3D laser output scanning results; The calculation module is used to calculate the corresponding available coefficients based on the running data; The first determining module is used to determine whether the available coefficients meet the first available condition; The second determining module is used to determine whether the running data meets the second availability condition if the availability coefficient meets the first availability condition; The processing module is used to perform drilling design based on the scanning results of the drilling-type three-dimensional laser if the running data meets the second availability condition; The operational data includes: Resolution fluctuation factor; Image generation speed variation coefficient; Output incomplete coefficients; The computing module is specifically used for: Based on the output incompleteness coefficient, the resolution fluctuation coefficient, and the image generation speed variation coefficient, the corresponding usable coefficient is calculated using the usable coefficient formula, wherein the usable coefficient formula is: Among them, the The available coefficient, the This represents the resolution fluctuation coefficient, the The coefficient representing the rate of change of the image generation speed, the This represents the output incompleteness coefficient, the The scaling factor representing the resolution fluctuation coefficient, the The scaling factor for generating the velocity change coefficient of the image and the This represents the scaling factor for the incomplete output coefficient, and All are greater than 0; The first determining module is specifically used for: Determine 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, then the available coefficient is determined to satisfy the first availability condition; The second determining module is specifically used for: Establish a target data set for the operational data and calculate the standard deviation corresponding to the target data set; 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 usability condition, a risk signal is generated and an early warning is issued; If the standard deviation is less than the second preset threshold, the operating data is determined to meet the second usability condition, and a low-risk signal is generated.

6. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions; when executed by a processor, the computer-executable instructions can implement the method of any one of claims 1-4.

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