Mobile underground hazard source network monitoring and early warning device and operation method thereof

Abstract

The invention relates to the technical field of early warning devices, and discloses a mobile underground hazard source network monitoring and early warning device and an operation method thereof.The mobile underground hazard source network monitoring and early warning device comprises a tracked robot and a plurality of strain gauges; a carbon monoxide gas sensor, a methane gas sensor, a temperature sensor, a humidity sensor, a coal dust concentration sensor, a wind speed sensor, an alarm and a high-definition camera are arranged on the surface of the top of the crawler-type robot, and a three-dimensional scanning surveying and mapping system and a PLC are further arranged on the surface of the top of the crawler-type robot. According to the technical scheme, the early warning device can detect various dangerous sources in a mine in the actual use process, and when the numerical value of the detected dangerous source reaches a preset threshold value, the PLC can start and control the alarm to give an alarm, so that the early warning range of the device is widened, and the production safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of early warning devices, and in particular to a mobile underground hazardous source network monitoring and early warning device and an operating method thereof. Background Art

[0002] The underground environment of mines is complex, especially after a coal mine disaster accident occurs, rapid and effective emergency rescue is needed to reduce casualties and property losses.

[0003] In the prior art, the patent with announcement number: CN114893251A discloses an explosion-proof monitoring and early warning device for mines, including: a box, a controller, a power module and an environmental monitoring module are arranged inside the box, an alarm is arranged inside or outside the box, and the power module, the environmental monitoring module, the alarm and the controller are connected; at least two opposite positions on the wall of the box are provided with filter screens for gas to pass through, so that the gas can flow into the box from one filter screen and flow out of the box from another filter screen in a straight line direction; the environmental monitoring module is used to collect environmental information, and the controller is used to control the alarm to send out alarm information based on the environmental information. In the present invention, the gas environment inside the box is closer to the gas environment outside the box, and the filter screen filters out impurities in the gas, the environmental monitoring module can monitor the environmental information more accurately, and the controller controls the alarm to send out alarm information more accurately and timely based on the accurate environmental information.

[0004] The technical solution proposed by the above patent technology can only monitor carbon monoxide and methane at designated locations during the process of monitoring and early warning in the mine, resulting in a limited scope of monitoring and early warning.

[0005] To this end, the present invention provides a mobile underground hazardous source network monitoring and early warning device and an operating method thereof. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The present invention provides a mobile underground dangerous source network monitoring and early warning device, comprising: A crawler robot and several strain gauges pre-installed on the surfaces of various load-bearing structures inside the mine, the top surface of the crawler robot is respectively provided with a carbon monoxide gas sensor, a methane gas sensor, a temperature sensor, a humidity sensor, a coal dust concentration sensor, a wind speed sensor, an alarm and a high-definition camera, and the top surface of the crawler robot is also respectively provided with a three-dimensional scanning and mapping system and a PLC controller, and the three-dimensional scanning and mapping system includes a mounting seat fixed on the top of the crawler robot, and a plurality of three-dimensional laser scanners arranged in a circular array on the outer surface of the mounting seat, the carbon monoxide gas sensor, methane gas sensor, temperature sensor, humidity sensor, coal dust concentration sensor, wind speed sensor, three-dimensional scanning and mapping system and the alarm are all electrically connected to the PLC controller through wires, and the several strain gauges are all wirelessly connected to the PLC controller.

[0008] On the other hand, the present application also provides an operation method of a mobile underground dangerous source network monitoring and early warning device, comprising the following steps: S1: Setting parameters, respectively setting the thresholds of the carbon monoxide gas sensor, methane gas sensor, temperature sensor, humidity sensor, coal dust concentration sensor and wind speed sensor through the control interface of the PLC controller, so that when the detection values ​​of the carbon monoxide gas sensor, methane gas sensor, temperature sensor, humidity sensor, coal dust concentration sensor and wind speed sensor reach the threshold, the alarm is controlled by the PLC controller to sound an alarm; S2: Install the strain gauge and connect it to the PLC controller signal. The steps are as follows: (1) Preparation and installation of strain gauges: a. Check the strain gauges to see if they are damaged or deformed, and verify the model and specifications of the strain gauges to ensure they meet the measurement requirements. After that, each strain gauge is installed on the surface of the load-bearing structure in each mine; b. Select the connection cable. According to the interface type of the strain gauge, select the appropriate connection cable and adapter; (2) Connect the strain gauge and the wireless node: a. Connect the strain gauge and insert one end of the connecting wire into the interface of the strain gauge to ensure that it is firmly inserted and not loose. At the same time, waterproof and dustproof the interface to ensure stability and durability after wiring; b. Connect the wireless node, connect the other end of the connecting line to the corresponding port of the wireless strain node, such as CN1, CN2, CN3, CN4, so that the red line of the strain gauge is connected to the positive electrode S+ of the wireless strain node, and the black line is connected to the bottom line gnd; (3) Configure wireless nodes: a. Turn on the wireless nodes. According to the operation instructions of the wireless nodes, turn on the wireless nodes and number the wireless nodes, such as wireless node 1 and wireless node 2; b. Set up wireless connection, ensure that the wireless node is discoverable, and configure the network configuration of the wireless node so that it can communicate with the PLC controller; (4) Setting and connection of PLC controller: a. Connect the PLC controller to the power supply and put it in working state; b. Turn on the wireless connection. Find and click the "Wireless Connection" option in the PLC controller's settings menu, and click the "Turn on Wireless Connection" button. Wait for the PLC controller to turn on the wireless connection function. c. Search and connect to wireless nodes. Start searching for nearby wireless nodes through the PLC controller, and select and connect the previously configured wireless strain node in the searched node list; d. Enter the security password of the wireless node through the PLC controller and confirm the connection; (5) Verify connection and test: a. Check the wireless connection status on the PLC controller to ensure that the PLC controller is successfully connected to the wireless strain node; b. Test strain measurement, apply a certain strain to the strain gauge, observe whether the strain data displayed on the PLC controller is normal, and set the strain threshold of the strain gauge; S3: Drive the crawler robot to conduct mobile inspections in the mine, and use carbon monoxide gas sensors, methane gas sensors, temperature sensors, humidity sensors, coal dust concentration sensors and wind speed sensors to detect the items that need to be detected one by one. At the same time, various strain gauges wirelessly connected to the PLC controller monitor various load-bearing structures in the mine; S4: Construct a three-dimensional coordinate system in the mine. The specific steps are as follows: (1) Drive the crawler robot to each designated location and plan the scanning path and scanning intensity according to the structure in the mine and the area that needs special measurement; (2) Data collection: Start the 3D laser scanner to scan the inside of the mine, including measuring the distance between the laser beam and the target object and recording each scanning point and coordinate information; (3) Data preprocessing: Use a denoiser to remove the clutter and noise data generated during the scanning process, import the collected point cloud data into professional point cloud processing software (such as CloudCompare), and stitch point cloud data from multiple different perspectives to form a complete point cloud model; (4) Coordinate system construction: In the point cloud processing software, a three-dimensional model of the mine is constructed based on the scanned data, and the origin, X-axis, Y-axis and Z-axis directions of the coordinate system are determined according to the actual situation in the mine. Usually, a fixed point in the mine is selected as the origin, and the main direction or vertical direction in the mine is used as the X-axis or Z-axis. Finally, the coordinate conversion function in the point cloud processing software is used to convert the scanned coordinate system into the actual coordinate system of the mine. Through the construction of the coordinate system, the Internet of Things technology is used to implement real-time monitoring of the three-dimensional coordinate system of reasonable movement laws for various types of work in the mine, and the algorithm is integrated into static coordinate positioning and dynamic coordinate measurement to improve the monitoring and early warning effect.

[0009] (5) Model optimization and analysis: Optimize the constructed 3D model, including repairing holes, smoothing surfaces, improving the quality and usability of the model, and visually displaying and quantitatively analyzing the model to understand the structure, size and deformation of the mine; (6) Output: The constructed three-dimensional model and coordinate system data will be used to carry out mine safety management, design optimization and post-disaster rescue work.

[0010] The beneficial effects of the present invention are: The mobile underground hazardous source network monitoring and early warning device and its operation method described in the present invention, by setting a carbon monoxide gas sensor, a methane gas sensor, a temperature sensor, a humidity sensor, a coal dust concentration sensor and a wind speed sensor as well as an alarm and a PLC controller, enable the early warning device to enter the interior of the mine through a crawler robot during actual use, and detect the toxic gas, temperature, humidity, coal dust concentration and ventilation volume in the mine, so as to detect various hazardous sources in the mine. When the value of the detected hazardous source reaches a preset threshold, the PLC controller can start the control alarm to alarm, thereby improving the early warning range of the device and further improving the safety of production.

[0011] The present invention discloses a mobile underground hazardous source network monitoring and early warning device and an operating method thereof. By arranging strain gauges on each load-bearing structure in a mine, and connecting the plurality of strain gauges to a PLC controller via wireless signals, when the load-bearing structure in the mine is deformed and reaches a threshold, the strain gauges can transmit a signal to the PLC controller, so that the PLC controller automatically controls the alarm to sound an alarm, thereby being able to provide an accurate early warning of whether the load-bearing structure in the mine is deformed.

[0012] The mobile underground hazardous source network monitoring and early warning device and its operation method described in the present invention can perform a three-dimensional scan of the interior of a mine and establish a three-dimensional model of the mine by adopting a three-dimensional scanning and mapping system, thereby facilitating the management of safety in the mine and optimizing and upgrading the structure in the mine, and can accurately locate the disaster-stricken site and target after a disaster. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the crawler robot of the present invention; Figure 2 It is a schematic diagram of the monitoring and early warning process of the present invention; Figure 3 This is a diagram of the steps of wirelessly connecting the strain gauge and the PLC controller of the present invention; Figure 4 It is a diagram of the steps of constructing a three-dimensional model in a mine according to the present invention.

[0014] Description of reference numerals: 100. Tracked robot; 200. Carbon monoxide gas sensor; 300. Methane gas sensor; 400. Temperature sensor; 500. Humidity sensor; 600. Coal dust concentration sensor; 700. Wind speed sensor; 800. Alarm; 900. High-definition camera; 1000. 3D scanning and mapping system; 1100. PLC controller. DETAILED DESCRIPTION

[0015] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples. Example

[0016] The following is a further detailed description of the technical solution of the present invention in conjunction with the accompanying drawings and specific embodiments. Figures 1 to 4 , this application provides a mobile underground dangerous source network monitoring and early warning device, please refer to Figure 1 and Figure 2 ,include: The crawler robot 100 and several strain gauges pre-installed on the surface of each load-bearing structure inside the mine, the top surface of the crawler robot 100 is respectively provided with a carbon monoxide gas sensor 200, a methane gas sensor 300, a temperature sensor 400, a humidity sensor 500, a coal dust concentration sensor 600, a wind speed sensor 700, an alarm 800 and a high-definition camera 900, and the top surface of the crawler robot 100 is also respectively provided with a three-dimensional scanning surveying and mapping system 1000 and a PLC controller 1100, and the three-dimensional scanning The three-dimensional scanning and mapping system 1000 includes a mounting base fixed on the top of the crawler robot 100, and a plurality of three-dimensional laser scanners arranged in a circular array on the outer surface of the mounting base. The carbon monoxide gas sensor 200, the methane gas sensor 300, the temperature sensor 400, the humidity sensor 500, the coal dust concentration sensor 600, the wind speed sensor 700, the three-dimensional scanning and mapping system 1000 and the alarm 800 are all electrically connected to the PLC controller 1100 through wires, and a plurality of strain gauges are wirelessly connected to the PLC controller 1100.

[0017] Specifically, the mobile underground hazardous source network monitoring and early warning device and its operation method described in the present invention, by setting a carbon monoxide gas sensor 200, a methane gas sensor 300, a temperature sensor 400, a humidity sensor 500, a coal dust concentration sensor 600 and a wind speed sensor 700 as well as an alarm 800 and a PLC controller 1100, enable the early warning device to enter the interior of the mine through a crawler robot 100 during actual use, and detect the toxic gas, temperature, humidity, coal dust concentration and ventilation volume in the mine, so as to detect various hazardous sources in the mine. When the value of the detected hazardous source reaches a preset threshold, the PLC controller 1100 can start to control the alarm 800 to alarm, thereby improving the early warning range of the device and further improving the safety of production.

[0018] On the other hand, the embodiment of the present application also provides an operation method of a mobile underground dangerous source network monitoring and early warning device, comprising the following steps: S1: Setting parameters, respectively setting the thresholds of the carbon monoxide gas sensor 200, the methane gas sensor 300, the temperature sensor 400, the humidity sensor 500, the coal dust concentration sensor 600 and the wind speed sensor 700 through the control interface of the PLC controller 1100, so that when the detection values ​​of the carbon monoxide gas sensor 200, the methane gas sensor 300, the temperature sensor 400, the humidity sensor 500, the coal dust concentration sensor 600 and the wind speed sensor 700 reach the threshold, the alarm 800 is controlled by the PLC controller 1100 to give an alarm; S2: Install the strain gauge and connect the strain gauge to the PLC controller 1100 signal. The operation steps are as follows: (1) Preparation and installation of strain gauges: a. Check the strain gauges to see if they are damaged or deformed, and verify the model and specifications of the strain gauges to ensure they meet the measurement requirements. After that, each strain gauge is installed on the surface of the load-bearing structure in each mine; b. Select the connection cable. According to the interface type of the strain gauge, select the appropriate connection cable and adapter; (2) Connect the strain gauge and the wireless node: a. Connect the strain gauge and insert one end of the connecting wire into the interface of the strain gauge to ensure that it is firmly inserted and not loose. At the same time, waterproof and dustproof the interface to ensure stability and durability after wiring; b. Connect the wireless node, connect the other end of the connecting line to the corresponding port of the wireless strain node, such as CN1, CN2, CN3, CN4, so that the red line of the strain gauge is connected to the positive electrode S+ of the wireless strain node, and the black line is connected to the bottom line gnd; (3) Configure wireless nodes: a. Turn on the wireless nodes. According to the operation instructions of the wireless nodes, turn on the wireless nodes and number the wireless nodes, such as wireless node 1 and wireless node 2; b. Set up a wireless connection to ensure that the wireless node is discoverable, and configure the network configuration of the wireless node to enable it to communicate with the PLC controller 1100; (4) Setting and connection of PLC controller 1100: a. Connect the PLC controller 1100 to the power supply to put it in working state; b. Turn on the wireless connection. Find and click the "Wireless Connection" option in the setting menu of the PLC controller 1100, and click the "Turn on Wireless Connection" button, and wait for the PLC controller 1100 to turn on the wireless connection function; c. Search and connect to wireless nodes. The PLC controller 1100 starts searching for nearby wireless nodes, and selects and connects to the previously configured wireless strain node in the searched node list; d. Enter the security password of the wireless node through the PLC controller 1100 and confirm the connection; (5) Verify connection and test: a. Check the wireless connection status on the PLC controller 1100 to ensure that the PLC controller 1100 is successfully connected to the wireless strain node; b. Test strain measurement, apply a certain strain to the strain gauge, observe whether the strain data displayed on the PLC controller 1100 is normal, and set the strain threshold of the strain gauge; S3: driving the crawler robot 100 to conduct mobile inspection in the mine, and detecting the items that need to be detected one by one through the carbon monoxide gas sensor 200, the methane gas sensor 300, the temperature sensor 400, the humidity sensor 500, the coal dust concentration sensor 600 and the wind speed sensor 700, and monitoring the various load-bearing structures in the mine through various strain gauges wirelessly connected to the PLC controller 1100; Specifically, the present invention sets strain gauges on each load-bearing structure in the mine, and connects multiple strain gauges to the PLC controller 1100 through wireless signals. When the load-bearing structure in the mine is deformed and reaches a threshold, the strain gauge can transmit the signal to the PLC controller 1100, so that the PLC controller 1100 automatically controls the alarm 800 to sound an alarm, thereby accurately warning whether the load-bearing structure in the mine is deformed.

[0019] S4: Construct a three-dimensional coordinate system in the mine. The specific steps are as follows: (1) Drive the crawler robot 100 to each designated position and plan the scanning path and scanning intensity according to the structure in the mine and the area that needs special measurement; (2) Data collection: Start the 3D laser scanner to scan the inside of the mine, including measuring the distance between the laser beam and the target object and recording each scanning point and coordinate information; (3) Data preprocessing: Use a denoiser to remove the clutter and noise data generated during the scanning process, import the collected point cloud data into professional point cloud processing software (such as CloudCompare), and stitch point cloud data from multiple different perspectives to form a complete point cloud model; (4) Coordinate system construction: In the point cloud processing software, a three-dimensional model of the mine is constructed based on the scanned data, and the origin, X-axis, Y-axis and Z-axis directions of the coordinate system are determined according to the actual situation in the mine. Usually, a fixed point in the mine is selected as the origin, and the main direction or vertical direction in the mine is used as the X-axis or Z-axis. Finally, the coordinate conversion function in the point cloud processing software is used to convert the scanned coordinate system into the actual coordinate system of the mine. (5) Model optimization and analysis: Optimize the constructed 3D model, including repairing holes, smoothing surfaces, improving the quality and usability of the model, and visually displaying and quantitatively analyzing the model to understand the structure, size and deformation of the mine; (6) Output: The constructed three-dimensional model and coordinate system data will be used to carry out mine safety management, design optimization and post-disaster rescue work.

[0020] Specifically, the present invention, by adopting the three-dimensional scanning and mapping system 1000, can perform three-dimensional scanning of the interior of the mine and establish a three-dimensional model of the mine, thereby facilitating the management of safety within the mine, while facilitating the optimization and upgrading of the structure within the mine, and can accurately locate the disaster-stricken areas and targets after the disaster.

[0021] At the same time, the Beidou or GNSS system is used to set algorithms for various monitoring indexes, and the accuracy and timeliness of Beidou or GNSS positioning will inevitably provide support for the safe operation of underground structures in response to various complex working conditions faced by safe operations in underground spaces. Among them, the core of the entire monitoring and early warning is to establish a Beidou or GNSS high-precision positioning system based on the Beidou system and supplemented by multiple satellites (GPS, Galileo, GLONASS) that can meet the application of construction sites. In addition, by setting algorithms for complex underground working conditions, the operation and use of Beidou or GNSS high-precision positioning with good adaptability are clarified.

[0022] An example of the present specific implementation mode is described above, but the present embodiment is not limited to the above-mentioned specific implementation mode, which is merely illustrative and not restrictive. A person skilled in the art may make many forms inspired by the present embodiment, all of which are protected by the present embodiment.

Claims

1. A mobile underground dangerous source network monitoring and early warning device, characterized in that: include: A crawler robot (100) and a plurality of strain gauges pre-installed on the surfaces of various load-bearing structures inside a mine, wherein the top surface of the crawler robot (100) is respectively provided with a carbon monoxide gas sensor (200), a methane gas sensor (300), a temperature sensor (400), a humidity sensor (500), a coal dust concentration sensor (600), a wind speed sensor (700), an alarm (800) and a high-definition camera (900), and the top surface of the crawler robot (100) is also respectively provided with a three-dimensional scanning surveying and mapping system (1000) and a PLC controller (1100), and the three The three-dimensional scanning and mapping system (1000) comprises a mounting base fixedly mounted on the top of the crawler robot (100), and a plurality of three-dimensional laser scanners arranged in a circular array on the outer surface of the mounting base; the carbon monoxide gas sensor (200), the methane gas sensor (300), the temperature sensor (400), the humidity sensor (500), the coal dust concentration sensor (600), the wind speed sensor (700), the three-dimensional scanning and mapping system (1000) and the alarm (800) are all electrically connected to the PLC controller (1100) via wires, and the plurality of strain gauges are all wirelessly connected to the PLC controller (1100).

2. An operating method of a mobile underground hazardous source network monitoring and early warning device, according to the mobile underground hazardous source network monitoring and early warning device of claim 1, characterized in that: The following steps are involved: S1: Setting parameters, respectively setting the thresholds of the carbon monoxide gas sensor (200), the methane gas sensor (300), the temperature sensor (400), the humidity sensor (500), the coal dust concentration sensor (600) and the wind speed sensor (700) through the control interface of the PLC controller (1100), so that when the detection values ​​of the carbon monoxide gas sensor (200), the methane gas sensor (300), the temperature sensor (400), the humidity sensor (500), the coal dust concentration sensor (600) and the wind speed sensor (700) reach the thresholds, the alarm (800) is controlled by the PLC controller (1100) to sound an alarm; S2: Install the strain gauge and connect the strain gauge to the PLC controller (1100) signal. The operation steps are as follows: (1) Preparation and installation of strain gauges: a. Check the strain gauges to see if they are damaged or deformed, and verify the model and specifications of the strain gauges to ensure they meet the measurement requirements. After that, each strain gauge is installed on the surface of the load-bearing structure in each mine; b. Select the connection cable. According to the interface type of the strain gauge, select the appropriate connection cable and adapter; (2) Connect the strain gauge and the wireless node: a. Connect the strain gauge and insert one end of the connecting wire into the interface of the strain gauge to ensure that it is firmly inserted and not loose. At the same time, waterproof and dustproof the interface to ensure stability and durability after wiring; b. Connect the wireless node, connect the other end of the connecting line to the corresponding port of the wireless strain node, such as CN1, CN2, CN3, CN4, so that the red line of the strain gauge is connected to the positive electrode S+ of the wireless strain node, and the black line is connected to the bottom line gnd; (3) Configure wireless nodes: a. Turn on the wireless nodes. According to the operation instructions of the wireless nodes, turn on the wireless nodes and number the wireless nodes, such as wireless node 1 and wireless node 2; b. Setting up a wireless connection, ensuring that the wireless node is in a discoverable state, and configuring the network configuration of the wireless node so that it can communicate with the PLC controller (1100); (4) Setting and connection of PLC controller (1100): a. Connect the PLC controller (1100) to the power supply to put it in working state; b. Turn on the wireless connection. Find and click the "Wireless Connection" option in the setting menu of the PLC controller (1100), and click the "Turn on Wireless Connection" button. Wait for the PLC controller (1100) to turn on the wireless connection function. c. Searching and connecting to wireless nodes, starting a search for nearby wireless nodes through the PLC controller (1100), and selecting and connecting to a previously configured wireless strain node in the searched node list; d. Enter the security password of the wireless node through the PLC controller (1100) and confirm the connection; (5) Verify connection and test: a. Check the wireless connection status on the PLC controller (1100) to ensure that the PLC controller (1100) is successfully connected to the wireless strain node; b. Test strain measurement, apply a certain strain to the strain gauge, observe whether the strain data displayed on the PLC controller (1100) is normal, and set the strain threshold of the strain gauge; S3: driving the crawler robot (100) to conduct mobile inspection in the mine, and detecting the items that need to be detected one by one through the carbon monoxide gas sensor (200), the methane gas sensor (300), the temperature sensor (400), the humidity sensor (500), the coal dust concentration sensor (600) and the wind speed sensor (700), and monitoring the various load-bearing structures in the mine through various strain gauges wirelessly connected to the PLC controller (1100); S4: Construct a three-dimensional coordinate system in the mine. The specific steps are as follows: (1) determining scanning positions, driving the crawler robot (100) to move to each designated position, and planning the scanning path and scanning intensity according to the structure in the mine and the area that needs special measurement; (2) Data collection: Start the 3D laser scanner to scan the inside of the mine, including measuring the distance between the laser beam and the target object and recording each scanning point and coordinate information; (3) Data preprocessing: Use a denoiser to remove the clutter and noise data generated during the scanning process, import the collected point cloud data into professional point cloud processing software (such as CloudCompare), and stitch point cloud data from multiple different perspectives to form a complete point cloud model; (4) Coordinate system construction: In the point cloud processing software, a three-dimensional model of the mine is constructed based on the scanned data, and the origin, X-axis, Y-axis and Z-axis directions of the coordinate system are determined according to the actual situation in the mine. Usually, a fixed point in the mine is selected as the origin, and the main direction or vertical direction in the mine is used as the X-axis or Z-axis. Finally, the coordinate conversion function in the point cloud processing software is used to convert the scanned coordinate system into the actual coordinate system of the mine. (5) Model optimization and analysis: Optimize the constructed 3D model, including repairing holes, smoothing surfaces, improving the quality and usability of the model, and visually displaying and quantitatively analyzing the model to understand the structure, size and deformation of the mine; (6) Output: The constructed three-dimensional model and coordinate system data will be used to carry out mine safety management, design optimization and post-disaster rescue work.

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