Modeling and scanning device and method for metal mine cage lifting shaft based on mobile three-dimensional laser SLAM scanning technology

Abstract

The invention provides a metal mine cage vertical shaft modeling scanning device based on three-dimensional laser scanning, and relates to the technical field of metal mine cage lifting vertical shaft scanning, the device comprises a main machine protection box body, a scanner main machine fixing hole is formed in the outer side of the main machine protection box body, and a main machine protection box cover plate is hinged to the top of the main machine protection box body; the top of the host protection box cover plate is fixedly connected with a device handle, the bottom of the host protection box body is fixedly connected with an extension support, and the bottom of the extension support is fixedly connected with a scanning lens fixing plate. The invention further provides a metal mine cage vertical shaft modeling method based on three-dimensional laser scanning, the three-dimensional model of the visual metal mine cage lifting vertical shaft can be established, the section of the metal mine cage lifting vertical shaft can be accurately extracted, the variable quantity of the section of the metal mine cage lifting vertical shaft and the design section of the section of the metal mine cage lifting vertical shaft can be solved, and the modeling accuracy of the metal mine cage lifting vertical shaft is improved. The deformation analysis of the metal mine cage lifting shaft is further carried out, and accurate and reliable basic data are provided for safe operation and repair planning of the metal mine cage lifting shaft.

Description

Technical Field

[0001] The present invention relates to the technical field of metal mine cage hoisting shaft scanning, and in particular to a metal mine cage shaft modeling scanning device and method based on three-dimensional laser scanning. Background Art

[0002] Deformation monitoring of the cage hoisting shaft of a metal mine is of great significance to mine safety production. Accurately understanding the deformation of the shaft can ensure the normal operation of the cage and the safety of personnel carrying out maintenance work, while providing basic data for the safe operation and repair planning of the shaft. Traditional shaft deformation monitoring uses a steel ruler distance measurement method to collect shaft cross-sectional data, and then determines the deformation of the shaft by comparing it with the design model cross-section. The shortcomings of this method are: on the one hand, the amount of data obtained by manual measurement is small, and it is impossible to construct a three-dimensional spatial model similar to the actual situation, making it impossible for relevant technical personnel to intuitively obtain visual data; on the other hand, due to factors such as later repairs during the operation of the shaft, the cross-sectional specifications change. The deformation determined by comparing the measured model cross-section with the design model cross-section cannot truly reflect the deformation of the shaft.

[0003] The development of 3D laser scanning technology has provided a new technical means for precision mining. Research has shown that the application of 3D laser scanning technology can accurately create a 3D model of the hoisting shaft of a metal mine cage, clearly demonstrating the deformation state of the shaft and enabling precise calculation of the deformation.

[0004] 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 while walking. Using mobile 3D laser SLAM scanning technology to model and scan the metal mine cage hoisting shaft is a highly practical method that is easy to improve measurement accuracy. Summary of the Invention

[0005] The purpose of the present invention is to provide a metal mine cage shaft modeling scanning device and method based on three-dimensional laser scanning, obtain the actual morphological point cloud data of the complete metal mine cage hoisting shaft, establish a high-precision three-dimensional model of the metal mine cage hoisting shaft, clearly present the deformation state of the shaft, and then accurately calculate and analyze the deformation of the shaft, providing basic data for the safe operation and repair planning of the shaft.

[0006] The present invention provides a metal mine cage shaft modeling and scanning device based on three-dimensional laser scanning, comprising a mainframe protection box body, a scanner mainframe fixing hole is opened on the outside of the mainframe protection box body, a mainframe protection box cover is hingedly connected to the top of the mainframe protection box body, and a device handle is fixedly connected to the top of the mainframe protection box cover plate; The host protection box body bottom is fixedly connected with an extension support, the extension support bottom is fixedly connected with a scanning lens fixed plate, the scanning lens fixed plate inside is provided with a scanner lens fixed hole, the host protection box cover plate right side is fixedly connected with a cover plate buckle, the host protection box body right side is provided with a box body lock buckle, and the host protection box body outside is provided with a data threading port.

[0007] Preferably, the host protection box body is used for installing a mobile three-dimensional laser SLAM scanner host, and the scanning lens fixed plate is used for installing a mobile three-dimensional laser SLAM scanner lens.

[0008] A metal mine cage shaft modeling method based on three-dimensional laser scanning adopts the above-mentioned three-dimensional laser scanning-based metal mine cage shaft modeling scanning device, and comprises the following steps: S1, laying a target point of mobile three-dimensional laser scanning technology: S101. A high-precision measurement coordinate system under the independent coordinate system of the metal mine cage lifting shaft wellhead ground is established by using GNSS measurement technology, and a measurement control point is laid on the cage lifting shaft wellhead ground; S102. According to the laid measurement control point, a target point of mobile three-dimensional laser scanning technology is laid on the cage lifting shaft wellhead ground, and the target point is given a three-dimensional coordinate; S2: collecting point cloud data of the metal mine cage lifting shaft: S201. According to the laid target point of mobile three-dimensional laser scanning technology, the target point is aligned by using the reference disc of the three-dimensional laser SLAM scanner, the three-dimensional coordinates of the target point are collected, and the three-dimensional laser SLAM scanner is substituted into the three-dimensional coordinates of the independent measurement coordinate system of the metal mine cage lifting shaft wellhead ground; S202. The three-dimensional laser SLAM scanner is used to obtain complete point cloud data of the actual shape of the metal mine cage lifting shaft; S3: denoising of the metal mine cage lifting shaft point cloud data: S301. According to the point cloud data of the actual shape of the metal mine cage lifting shaft collected by the three-dimensional laser SLAM scanner, the three-dimensional coordinates of the target point are imported for differential data processing; S302. The point cloud data of the communication cable, high-voltage cable, air pipe, water pipe and other non-shaft wall accessories in the metal mine cage lifting shaft are removed, and the point cloud data of the horsehead door and safety door of each section of the metal mine cage lifting shaft are also removed, only the point cloud data reflecting the actual shape of the shaft wall of the metal mine cage lifting shaft are retained; S4: metal mine cage lifting shaft point cloud data thinning: S401. Based on the retained point cloud data reflecting the actual form of the metal mine cage hoist shaft, thinning the point cloud data of the metal mine cage hoist shaft is performed to ensure that the thinned point cloud data can fully reflect the actual form of the metal mine cage hoist shaft; S5: Create a 3D real-life model of a metal mine cage hoist shaft: S501. Based on the thinned-out metal mine cage hoist shaft point cloud data, establish a three-dimensional real-life model of the metal mine cage hoist shaft and export the data format compatible with the mining software; S6: Deformation analysis of metal mine cage hoisting shaft: S601. Based on the three-dimensional real-life model of the metal mine cage hoist shaft, extract the cross-section of the metal mine cage hoist shaft, and calculate the change in cross-section compared to the designed cross-section. Further perform deformation analysis of the metal mine cage hoist shaft to obtain basic data of the metal mine cage hoist shaft.

[0009] Compared with the prior art, the device and method for modeling and scanning a metal mine cage shaft based on three-dimensional laser scanning of the present invention have the following characteristics and advantages: A metal mine cage shaft modeling and scanning device and method based on 3D laser scanning can not only establish a visual 3D model of the metal mine cage hoisting shaft, but also accurately extract the cross-section of the metal mine cage hoisting shaft and solve the change from its designed cross-section, further perform deformation analysis of the metal mine cage hoisting shaft, and provide accurate and reliable basic data for the safe operation and repair planning of the metal mine cage hoisting shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of a process for implementing a metal mine cage shaft modeling method based on three-dimensional laser scanning according to the present invention; Figure 2 A schematic diagram of the three-dimensional structure of a metal mine cage shaft modeling and scanning device based on three-dimensional laser scanning implemented in the present invention; Figure 3 A shaft point cloud data diagram for implementing a metal mine cage shaft modeling method based on three-dimensional laser scanning in the present invention; Figure 4 A three-dimensional real-scene model diagram of a metal mine cage shaft modeling method based on three-dimensional laser scanning implemented in the present invention; Figure 5 This is a cross-sectional deformation analysis diagram of a metal mine cage shaft modeling method based on three-dimensional laser scanning implemented in the present invention.

[0011] In the figure: 1 host protection box cover; 2 device handle; 3 scanner host fixing hole; 4 host protection box; 5 extension bracket; 6 scanner lens fixing hole; 7 cover buckle; 8 box lock; 9 data threading port; 10 scanning lens fixing plate. DETAILED DESCRIPTION

[0012] like Figures 1-5 The device shown is a metal mine cage shaft modeling and scanning device based on three-dimensional laser scanning, which includes a mainframe protection box body 4, a scanner mainframe fixing hole 3 is opened on the outside of the mainframe protection box body 4, a mainframe protection box cover plate 1 is hinged on the top of the mainframe protection box body 4, and a device handle 2 is fixedly connected to the top of the mainframe protection box cover plate 1.

[0013] An extension bracket 5 is fixedly connected to the bottom of the host protection box 4, and a scanning lens fixing plate 10 is fixedly connected to the bottom of the extension bracket 5. A scanner lens fixing hole 6 is provided inside the scanning lens fixing plate 10. A cover buckle 7 is fixedly connected to the right side of the host protection box cover 1. A box lock buckle 8 is provided on the right side of the host protection box 4, and a data threading port 9 is provided on the outside of the host protection box 4.

[0014] The host protection box 4 is used to install the mobile three-dimensional laser SLAM scanner host, and the scanning lens fixing plate 10 is used to install the mobile three-dimensional laser SLAM scanner lens.

[0015] A metal mine cage shaft modeling method based on three-dimensional laser scanning includes the following steps: S1: Deployment of target points for mobile 3D laser scanning technology: S101. Use GNSS measurement technology to establish a high-precision measurement coordinate system under the independent ground mine coordinate system at the entrance of the metal mine cage hoist shaft. A total of 5 measurement control points are arranged on the ground at the entrance of the metal mine cage hoist shaft, which are: Well 1 # Well 2 # Well 3 # Well 4 # Well 5 # ; S102. Based on the measurement control points, a total of 4 mobile 3D laser scanning technology target points are set up on the ground at the entrance of the metal mine cage hoist shaft, which are J1 # 、J2 # 、J3 # 、J4 # , and all target points are assigned three-dimensional coordinates : S2: Collecting point cloud data of the metal mine cage hoist shaft: S201. Based on the four mobile 3D laser scanning technology target points arranged on the ground at the entrance of the metal mine cage hoist shaft, the 3D laser SLAM scanner's reference disk is used to sequentially align the four target points and collect the 3D coordinates of the target points. , so that the 3D laser SLAM scanner can be substituted into the 3D coordinates of the metal mine cage hoist shaft mouth under the independent ground coordinate system ; S202. Use a 3D laser SLAM scanner to obtain point cloud data of the actual shape of the metal mine cage hoist shaft, such as Figure 3 .

[0016] S3: Denoising of point cloud data of metal mine cage hoist shaft: S301. Based on the point cloud data of the actual form of the metal mine cage hoist shaft collected by the three-dimensional laser SLAM scanner, the three-dimensional coordinates of the target points collected are imported using existing data processing software for differential data processing; S302. Using the GeoSLAM system, which is an existing point cloud processing software, remove the communication cables, high-voltage cables, air ducts, water pipes and other non-shaft wall accessories inside the metal mine cage hoist shaft. Also remove the point cloud data other than the horse head doors, safety doors, etc. in the middle sections of the metal mine cage hoist shaft, and only retain the point cloud data reflecting the actual shape of the metal mine cage hoist shaft wall.

[0017] S4: Sparse extraction of point cloud data of metal mine cage hoist shaft: S401. Based on the retained point cloud data reflecting the actual shape of the metal mine cage hoisting shaft, use existing data processing software to thin out the point cloud data of the metal mine cage hoisting shaft, and ensure that the thinned point cloud data can fully reflect the actual shape of the metal mine cage hoisting shaft.

[0018] S5: Create a 3D real-life model of a metal mine cage hoist shaft: S501. Based on the thinned point cloud data of the metal mine cage hoist shaft, a three-dimensional real-life model of the metal mine cage hoist shaft is established using the GeoSLAM system, such as Figure 4 , and export data formats compatible with the existing mining 3D modeling software Dimine platform.

[0019] S6: Deformation analysis of metal mine cage hoisting shaft: S601. Based on the 3D real-life model of the metal mine cage hoist shaft, extract the cross section of the metal mine cage hoist shaft, such as Figure 5 , and solve the change in its design section, further carry out deformation analysis of metal mine cage hoisting shaft, and provide accurate and reliable basic data for the safe operation and repair planning of metal mine cage hoisting shaft.

[0020] 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 scope of protection of the present invention.

Claims

1. A metal mine cage shaft modeling and scanning device based on three-dimensional laser scanning, comprising a mainframe protection box (4), characterized in that: The host protection box (4) is provided with a scanner host fixing hole (3) on the outside, the host protection box (4) is hinged with a host protection box cover (1) on the top, and the top of the host protection box cover (1) is fixedly connected with a device handle (2); The bottom of the host protection box (4) is fixedly connected to an extension bracket (5), the bottom of the extension bracket (5) is fixedly connected to a scanning lens fixing plate (10), a scanner lens fixing hole (6) is provided inside the scanning lens fixing plate (10), a cover buckle (7) is fixedly connected to the right side of the host protection box cover (1), a box lock buckle (8) is provided on the right side of the host protection box (4), and a data threading port (9) is provided on the outside of the host protection box (4).

2. The metal mine cage shaft modeling and scanning device based on 3D laser scanning according to claim 1, characterized in that: The host protection box (4) is used for installing a mobile three-dimensional laser SLAM scanner host, and the scanning lens fixing plate (10) is used for installing a mobile three-dimensional laser SLAM scanner lens.

3. A metal mine cage shaft modeling method based on 3D laser scanning, characterized in that: The metal mine cage shaft modeling and scanning device based on three-dimensional laser scanning as described in any one of claims 1 to 2 comprises the following steps: S1. Deploy target points for mobile 3D laser scanning technology: S101. Use GNSS measurement technology to establish a high-precision measurement coordinate system in an independent ground coordinate system at the cage hoist shaft entrance of a metal mine, and deploy measurement control points at the cage hoist shaft entrance. S102. According to the measurement control points, mobile 3D laser scanning technology target points are set on the ground at the cage hoist shaft mouth, and the target points are assigned 3D coordinates; S2: Collecting point cloud data of the metal mine cage hoist shaft: S201. According to the layout of the mobile 3D laser scanning technology target point, the use of the 3D laser SLAM scanner's reference disk aligned with the target point, collect the 3D coordinates of the target point, so that the 3D laser SLAM scanner into the metal mine cage hoist shaft wellhead independent ground measurement of the 3D coordinates of the coordinate system; S202 uses a three-dimensional laser SLAM scanner to obtain point cloud data of the actual shape of the metal mine cage hoist shaft; S3: Denoising of point cloud data of metal mine cage hoist shaft: S301. Based on the point cloud data of the actual form of the metal mine cage hoist shaft collected by the three-dimensional laser SLAM scanner, the three-dimensional coordinates of the target points are imported for differential data processing; S302. Remove communication cables, high-voltage cables, air ducts, water pipes, and other non-shaft wall attachments within the metal mine cage hoist shaft. Also remove point cloud data other than the gantry doors and safety gates in the middle sections of the metal mine cage hoist shaft. Only point cloud data reflecting the actual shape of the metal mine cage hoist shaft wall is retained. S4: Sparse extraction of point cloud data of metal mine cage hoist shaft: S401. Based on the retained point cloud data reflecting the actual form of the metal mine cage hoist shaft, the metal mine cage hoist shaft point cloud data is thinned out so that the thinned point cloud data can fully reflect the actual form of the metal mine cage hoist shaft; S5: Create a 3D real-life model of a metal mine cage hoist shaft: S501. Based on the thinned-out metal mine cage hoist shaft point cloud data, establish a three-dimensional real-life model of the metal mine cage hoist shaft and export the data format compatible with the mining software; S6: Deformation analysis of metal mine cage hoisting shaft: S601. Based on the three-dimensional real-life model of the metal mine cage hoist shaft, extract the cross-section of the metal mine cage hoist shaft, and calculate the change from its designed cross-section to perform deformation analysis of the metal mine cage hoist shaft.

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