Metal mine underground mining goaf acceptance inspection scanning method based on mobile three-dimensional laser SLAM scanning technology
By using mobile three-dimensional laser SLAM scanning technology in the underground goaf of metal ore mining, the problem that traditional methods cannot accurately reflect the space morphology and workload of goaf is solved, and high-precision three-dimensional model establishment and ore calculation are achieved, providing accurate data support for the safety and process of goaf.
Patent Information
- Application Number
- CN202510197915.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-21
- Publication Date
- 2025-05-13
AI Technical Summary
Traditional metal ore underground mining goaf acceptance measurement methods cannot accurately reflect the real goaf space shape, and the station-based three-dimensional laser scanning technology has problems of space limitations and large workload when acquiring data in a limited space.
The mobile three-dimensional laser SLAM scanning technology is used to obtain high-precision laser point cloud data during the movement. Through the steps of laying targets, collecting full-view point cloud data, denoising, diluting, establishing a three-dimensional model and calculating ore volume, a comprehensive acceptance scanning of the goaf is achieved.
It realizes the acquisition of complete actual morphological point cloud data in the underground mining goaf of metal ore, establishes an accurate three-dimensional model, and calculates accurate ore volume, providing reliable basic data for the safety warning of goaf and mining and filling processes.
Smart Images
Figure CN119984243A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of scanning the goaf area of an underground metal mine, and in particular to an acceptance scanning method for the goaf area of an underground metal mine based on a mobile three-dimensional laser SLAM scanning technology. Background Art
[0002] Underground mining of metal mines will form a large number of multi-layer underground goafs with different shapes and intricacies, including shafts and tunnels excavated for resource mining and underground spaces formed by resource mining. The traditional acceptance measurement of goafs in underground mining of metal mines uses a total station to construct a three-dimensional model through the section method and line method. Due to the small amount of collected data, the model cannot accurately reflect the real spatial form of the goaf. Through the application of the three-dimensional laser scanning system in the acceptance of the goaf of underground mining of metal mines, the actual form point cloud data of the complete underground mining goaf can be obtained, and the three-dimensional model of the goaf of underground mining of metal mines can be established. The ore volume of the goaf of underground mining of metal mines can be accurately calculated, providing accurate and reliable basic data for the safety warning of the goaf and the mining and filling process. However, when the station-type three-dimensional laser scanning technology obtains data in a limited space with complex environment, on the one hand, the station position is affected by on-site factors, and there is often not enough space for station setting; on the other hand, a single or a few stations in a limited space cannot completely scan the entire space, and multiple stations need to be scanned and then spliced. A series of work such as changing stations will greatly increase the workload. The mobile 3D laser SLAM scanning technology uses a breakthrough synchronous positioning and mapping technology, which can obtain high-precision laser point cloud data during movement. Compared with the stand-type scanning technology, it has the smallest size, lightest weight, and is the most portable. It has low environmental requirements and can achieve measurement on the go, improving field work efficiency.
[0003] Therefore, mobile 3D laser SLAM scanning technology has the ability to obtain high-precision laser point cloud data during movement, and can achieve the advantage of scanning as you go. Using mobile 3D laser SLAM scanning technology for acceptance scanning of underground mining goafs in metal mines is a very good method. Summary of the invention
[0004] The purpose of the present invention is to provide a metal mine underground mining goaf area acceptance scanning method based on mobile three-dimensional laser SLAM scanning technology, obtain the actual morphological point cloud data of the complete underground mining goaf, establish a three-dimensional model of the metal mine underground mining goaf, accurately calculate the ore volume of the metal mine underground mining goaf, and provide accurate and reliable basic data for the safety warning of the metal mine underground mining goaf and the mining and filling process.
[0005] In order to achieve the above object, the technical solution adopted by the present invention is: A method for scanning acceptance of underground mining goaf of a metal mine based on mobile 3D laser SLAM scanning technology uses mobile 3D laser SLAM scanning technology to scan acceptance of underground mining goaf of a metal mine, and the process includes the following steps: Step 1: Deploy the target points of mobile 3D laser scanning technology Step 1.1 Use the total station to establish a high-precision measurement coordinate system in an independent coordinate system of the underground mining area of the metal mine, and arrange measurement control points on the roof of the mining tunnel; Step 1.2: According to the arranged measurement control points, the target points of the mobile 3D laser scanning technology are arranged on both sides of the underground mining tunnel of the metal mine, 1 meter away from the bottom plate; Step 1.3 Use a total station to measure the target points of the mobile 3D laser scanning technology, and assign 3D coordinates to the target points; Step 2: Collect full point cloud data of the underground mining area of the metal mine Step 2.1, according to the deployed target points of the mobile 3D laser scanning technology, the reference plate of the 3D laser SLAM scanner is used to align the target points, collect the 3D coordinates of the target points, and substitute the 3D laser SLAM scanner into the 3D coordinates of the independent measurement coordinate system of the underground mining area of the metal mine; Step 2.2 Use a 3D laser SLAM scanner to obtain full point cloud data of the actual shape of the underground mining area of the metal mine; Step 3: Denoising of point cloud data of the whole goaf Step 3.1 Based on the full point cloud data of the actual shape of the underground mining goaf of the metal mine collected by the 3D laser SLAM scanner, the 3D coordinates of the collected target points are imported using professional data processing software for differential data processing; Step 3.2 Use professional data processing software to remove human figures, metal trusses, metal meshes, lighting cables and other objects in the goaf, and also remove the point cloud data collected by the laser scanning outside the goaf, and only retain the full point cloud data reflecting the actual shape of the goaf in the underground mining of the metal mine; Step 4: Thinning the point cloud data of the goaf Step 4.1 Based on the retained full-view point cloud data reflecting the actual shape of the goaf of the underground mining of the metal mine, use professional data processing software to thin out the full-view point cloud data of the goaf, and ensure that the thinned point cloud data can fully reflect the actual shape of the waist, bottom and top of the goaf of the underground mining of the metal mine; Step 5: Create a 3D real-life model of the goaf Step 5.1 Based on the thinned out point cloud data of the goaf, a three-dimensional real scene model of the goaf of the metal mine is established using professional data processing software, and the data format compatible with the mining software is exported; Step 6: Extract the contour of the goaf Step 6.1 Based on the three-dimensional real scene model of the metal mine underground mining goaf, use mining software to extract the contour line of the metal mine underground mining goaf, so as to facilitate the design of metal mine underground mining; Step 7: Calculate the amount of metal ore in the goaf Step 7.1 Based on the three-dimensional real scene model of the underground mining goaf of the metal mine, the volume of the goaf is calculated using mining software; Step 7.2: Based on the volume of the goaf of the underground mining of the metal mine, calculate the ore production of the goaf of the underground mining of the metal mine = the volume of the goaf × the specific gravity of the ore.
[0006] Preferably, in the step one, according to the arranged measurement control points, target points of the mobile three-dimensional laser scanning technology are arranged on both sides of the underground mining tunnel of the metal mine at a distance of 1 meter from the bottom plate.
[0007] Preferably, in step five, a three-dimensional real-life model of the goaf of an underground metal mine is established based on the thinned out point cloud data of the goaf's overall appearance using professional data processing software, and the data is exported in a format compatible with mining software.
[0008] Preferably, in step six, based on the three-dimensional real-life model of the metal mine underground mining goaf, mining software is used to extract the contour lines of the metal mine underground mining goaf for use in the metal mine underground mining design.
[0009] Preferably, in step seven, the ore production of the underground mining goaf of the metal mine is calculated based on the volume of the goaf of the underground mining of the metal mine = the volume of the goaf × the specific gravity of the ore.
[0010] Preferably, the underground mining goaf area acceptance scanning method for the metal mine obtains the actual morphological point cloud data of the complete underground mining goaf area of the metal mine, establishes a three-dimensional model of the underground mining goaf area of the metal mine, accurately calculates the ore volume of the underground mining goaf area of the metal mine, and provides accurate and reliable basic data for safety warning of the underground mining goaf area of the metal mine and mining and filling processes.
[0011] The beneficial effects of the present invention are: Compared with the prior art, the metal mine underground mining goaf area acceptance scanning method based on mobile three-dimensional laser SLAM scanning technology of the present invention has the following characteristics and advantages: A metal mine underground mining goaf area acceptance scanning method based on mobile 3D laser SLAM scanning technology can not only establish an intuitive, figurative and visual 3D model of the metal mine underground mining goaf area, but also accurately calculate the amount of ore mined in the metal mine underground mining goaf area, providing accurate and reliable basic data for safety warning of metal mine underground mining goaf areas and mining and filling processes.
[0012] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, the characteristics and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 A process framework for the acceptance scanning method of underground mining goaf of metal mines based on mobile three-dimensional laser SLAM scanning technology is implemented in the present invention; Figure 2 The invention implements a target point for a scanning method for acceptance of underground mining goaf of a metal mine based on mobile three-dimensional laser SLAM scanning technology; Figure 3 The invention implements a method for scanning the acceptance of underground mining goaf of a metal mine based on mobile three-dimensional laser SLAM scanning technology to collect target points; Figure 4 The present invention implements a method for scanning the acceptance of underground mining goaf in a metal mine based on mobile three-dimensional laser SLAM scanning technology to provide full-view point cloud data of the goaf area; Figure 5 The present invention implements a method for scanning acceptance of underground mining goaf areas of metal mines based on mobile three-dimensional laser SLAM scanning technology to obtain denoised point cloud data; Figure 6 The present invention implements a method for scanning acceptance of underground mining goaf areas of metal mines based on mobile three-dimensional laser SLAM scanning technology after thinning point cloud data; Figure 7 A three-dimensional real scene model of a goaf area for implementing a method for scanning an acceptance inspection of a goaf area in an underground mining metal mine based on a mobile three-dimensional laser SLAM scanning technology in the present invention; Figure 8 The invention implements a method for scanning the acceptance of underground mining goaf in a metal mine based on mobile three-dimensional laser SLAM scanning technology to extract the contour line of the goaf; Fig. 9 The present invention implements a method for scanning the acceptance of underground mining goaf in a metal mine based on mobile three-dimensional laser SLAM scanning technology to implement the goaf volume. DETAILED DESCRIPTION
[0014] like Figure 1 The method for scanning acceptance of underground mining goaf of metal mines based on mobile 3D laser SLAM scanning technology is shown. Taking the scanning acceptance of underground mining goaf of metal mines in West 2 mining area of Longshou Mine of Jinchuan Group Co., Ltd. as an example, the scanning acceptance of underground mining goaf of metal mines is performed by using mobile 3D laser SLAM scanning technology. The scanning acceptance process is as follows: Step 1: Deploy the target points of mobile 3D laser scanning technology Step 1.1 Use the total station to establish a high-precision measurement coordinate system under the independent geological coordinate system of the underground mining area of the metal mine in the West Second Mining Area. A total of 12 measurement control points are arranged on the roof of the 1430 middle section of the mining tunnel in the West Second Mining Area, which are 5-1 # 、5-2 # 、5-3 # 、7-1 # 、7-2 # 、7-3 # 、9-1 # 、9-2 # 、9-3 # 、11-1 # 、11-2 # 、11-3 # ; Step 1.2 Based on the measurement control points arranged on the roof of the 1430 middle section mining tunnel in the West Second Mining Area, a total of 5 mobile 3D laser scanning technology target points are arranged on both sides of the 1430 middle section mining tunnel 1 meter away from the bottom plate, which are S-1 # 、S-2 # 、S-3 # 、S-4 # 、S-5 # ,like Figure 2 ; Step 1.3 Use the total station to measure the mobile 3D laser scanning technology target points on both sides of the 1430 middle section of the West 2 mining area, and assign 3D coordinates (X, Y, H) to all target points: Step 2: Collect full point cloud data of the underground mining area of the metal mine Step 2.1 Based on the five mobile three-dimensional laser scanning technology target points arranged on both sides of the 1430 middle section of the West Second Mining Area, use the reference disk of the three-dimensional laser SLAM scanner to align with the five target points in turn, such as Figure 3 , collect the three-dimensional coordinates (X, Y, H) of the target point, and substitute the three-dimensional laser SLAM scanner into the three-dimensional coordinates (X, Y, H) of the independent geological and mining coordinate system of the West Second Mining Area; Step 2.2 Use 3D laser SLAM scanner to obtain the complete underground mining E5 of the West Second Mining Area # The full point cloud data of the actual shape of the approach goaf, such as Figure 4 .
[0015] Step 3: Denoising of point cloud data of the whole goaf Step 3.1 Based on the underground mining data of metal mine E5 in West 2 mining area collected by 3D laser SLAM scanner #The full point cloud data of the actual shape of the goaf of the approach road is imported into the three-dimensional coordinates of the target points for differential data processing using professional data processing software; Step 3.2 Remove E5 using GeoSLAM Hub or Connect software # Some figures, metal trusses, metal meshes, lighting cables and other objects in the goaf of the access road should also be removed. # The scanner outside the goaf of the access road scans the point cloud data collected by the laser through the laser, retaining only the point cloud data reflecting the underground mining of the metal mine E5 # The full point cloud data of the actual shape of the approach goaf, such as Figure 5 .
[0016] Step 4: Thinning the point cloud data of the goaf Step 4.1 Based on the retained E5 data, the underground mining of metal ore in the West Second Mining Area # The full point cloud data of the actual shape of the access goaf is used for E5 # The thinning of the point cloud data of the whole view of the goaf of the access road should ensure that the thinned point cloud data can fully reflect the underground mining of the metal mine E5 # The actual shape of the waist, bottom and top of the goaf of the approach, such as Figure 6 .
[0017] Step 5: Create a 3D real-life model of the goaf Step 5.1 Based on the thinned-out West 2 mining area E5 # Point cloud data of the whole goaf of the access road, using GeoSLAM Hub or Connect software to establish E5 underground mining of metal mines in West 2 mining area # The three-dimensional real-life model of the goaf of the access road, such as Figure 7 , and export data formats compatible with Dimine mining software.
[0018] Step 6: Extract the contour of the goaf Step 6.1 Based on the underground mining of metal mines in West 2 mining area E5 # The 3D real scene model of the goaf of the access road is extracted using Dimine mining software. # The contour line of the approach goaf, such as Figure 8 , in order to facilitate the design of underground mining of the next layer of metal mine in the West Second Mining Area.
[0019] Step 7: Calculate the amount of metal ore in the goaf Step 7.1 Based on underground mining of metal mines in West 2 mining area E5 # The three-dimensional real-life model of the goaf of the access road is calculated using Dimine mining software to calculate the E5 of the West Second Mining Area #The volume of the goaf of the approach, such as Fig. 9 ; Step 7.2 Based on the underground mining of metal mines in West 2 Mining Area E5 # The volume of the goaf of the access road is calculated to calculate the underground mining volume of the metal mine in the West Second Mining Area E5 # The amount of ore mined in the approach goaf = the volume of the goaf × the specific gravity of the ore = 1202.578 cubic meters × 2.79 tons / cubic meter = 3355.192 tons.
[0020] This embodiment has determined a scanning method for acceptance of the underground mining goaf of the metal mine in the West Second Mining District of Longshou Mine based on mobile three-dimensional laser SLAM scanning technology, obtained the complete actual morphological point cloud data of the underground mining goaf of the West Second Mining District of Longshou Mine, established a three-dimensional model of the underground mining goaf of the metal mine in the West Second Mining District of Longshou Mine, and accurately calculated the ore volume of the underground mining goaf of the metal mine in the West Second Mining District, providing accurate and reliable basic data for the safety warning and mining and filling process of the underground mining goaf of the metal mine in the West Second Mining District of Longshou Mine.
[0021] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.
Claims
1. A method for scanning acceptance of underground mining goaf in metal mines based on mobile 3D laser SLAM scanning technology, characterized in that The mobile 3D laser SLAM scanning technology is used to scan the acceptance of the underground mining area of the metal mine. The process includes the following steps: Step 1: Deploy the target points of mobile 3D laser scanning technology Step 1.1 Use the total station to establish a high-precision measurement coordinate system in an independent coordinate system of the underground mining area of the metal mine, and arrange measurement control points on the roof of the mining tunnel; Step 1.2: According to the arranged measurement control points, the target points of the mobile 3D laser scanning technology are arranged on both sides of the underground mining tunnel of the metal mine, 1 meter away from the bottom plate; Step 1.3 Use a total station to measure the target points of the mobile 3D laser scanning technology, and assign 3D coordinates to the target points; Step 2: Collect full point cloud data of the underground mining area of the metal mine Step 2.1, according to the deployed target points of the mobile 3D laser scanning technology, the reference plate of the 3D laser SLAM scanner is used to align the target points, collect the 3D coordinates of the target points, and substitute the 3D laser SLAM scanner into the 3D coordinates of the independent measurement coordinate system of the underground mining area of the metal mine; Step 2.2 Use a 3D laser SLAM scanner to obtain full point cloud data of the actual shape of the underground mining area of the metal mine; Step 3: Denoising of point cloud data of the whole goaf Step 3.1 Based on the full point cloud data of the actual shape of the underground mining goaf of the metal mine collected by the 3D laser SLAM scanner, the 3D coordinates of the collected target points are imported using professional data processing software for differential data processing; Step 3.2 Use professional data processing software to remove human figures, metal trusses, metal meshes, lighting cables and other objects in the goaf, and also remove the point cloud data collected by the laser scanning outside the goaf, and only retain the full point cloud data reflecting the actual shape of the goaf in the underground mining of the metal mine; Step 4: Thinning the point cloud data of the goaf Step 4.1 Based on the retained full-view point cloud data reflecting the actual shape of the goaf of the underground mining of the metal mine, use professional data processing software to thin out the full-view point cloud data of the goaf, and ensure that the thinned point cloud data can fully reflect the actual shape of the waist, bottom and top of the goaf of the underground mining of the metal mine; Step 5: Create a 3D real-life model of the goaf Step 5.1 Based on the thinned out point cloud data of the goaf, a three-dimensional real scene model of the goaf of the metal mine is established using professional data processing software, and the data format compatible with the mining software is exported; Step 6: Extract the contour of the goaf Step 6.1 Based on the three-dimensional real scene model of the metal mine underground mining goaf, use mining software to extract the contour line of the metal mine underground mining goaf, so as to facilitate the design of metal mine underground mining; Step 7: Calculate the amount of metal ore in the goaf Step 7.1 Based on the three-dimensional real scene model of the underground mining goaf of the metal mine, the volume of the goaf is calculated using mining software; Step 7.2: Based on the volume of the goaf of the underground mining of the metal mine, calculate the ore production of the goaf of the underground mining of the metal mine = the volume of the goaf × the specific gravity of the ore.
2. According to claim 1, a method for scanning acceptance of underground mining goaf of metal mines based on mobile three-dimensional laser SLAM scanning technology is characterized in that: In the step 1, according to the arranged measurement control points, target points of the mobile three-dimensional laser scanning technology are arranged on both sides of the underground mining tunnel of the metal mine at a distance of 1 meter from the bottom plate.
3. The method for scanning acceptance of underground mining goaf of a metal mine based on mobile three-dimensional laser SLAM scanning technology according to claim 1, characterized in that: In the step five, based on the thinned out point cloud data of the goaf, a three-dimensional real-life model of the goaf in the underground mining of the metal mine is established using professional data processing software, and the data is exported in a format compatible with the mining software.
4. The method for scanning acceptance of underground mining goaf of a metal mine based on mobile three-dimensional laser SLAM scanning technology according to claim 1, characterized in that: In the step six, based on the three-dimensional real-life model of the metal mine underground mining goaf, mining software is used to extract the contour line of the metal mine underground mining goaf, so as to facilitate the design of metal mine underground mining.
5. The method for scanning acceptance of underground mining goaf of a metal mine based on mobile three-dimensional laser SLAM scanning technology according to claim 1, characterized in that: In the step 7, according to the volume of the underground mining goaf of the metal mine, the mining volume of the underground mining goaf of the metal mine is calculated = the volume of the goaf × the specific gravity of the ore.
6. The method for scanning acceptance of underground mining goaf of a metal mine based on mobile three-dimensional laser SLAM scanning technology according to claim 1, characterized in that: The metal mine underground mining goaf area acceptance scanning method obtains the actual morphological point cloud data of the complete metal mine underground mining goaf area, establishes a three-dimensional model of the metal mine underground mining goaf area, accurately calculates the ore volume of the metal mine underground mining goaf area, and provides accurate and reliable basic data for the safety warning of the metal mine underground mining goaf area and the mining and filling process.