Mine laneway three-dimensional data acquisition method and system

Abstract

The invention relates to a mine laneway three-dimensional data acquisition method and system. The mine laneway three-dimensional data acquisition method comprises the steps that mine laneway control points and a three-dimensional laser scanning target are integrated on mine laneway high echo intensity target control points; mine laneway high echo intensity target control points are arranged on a stable rock mass of a mine laneway roof, coordinate-free high echo intensity targets are arranged on laneway sides, and the control points and target coordinates are obtained; the control points and the targets are numbered, auxiliary measuring points are set, a multi-closed-loop control measurement traverse network is formed through a special network arrangement structure, adjustment processing is carried out, and a measurement operation process is determined; scanning work is carried out according to the measurement operation process, three-dimensional point cloud data are collected, and a three-dimensional data collection movement track is obtained; and through point-to-point data analysis, converting the point cloud data under the relative coordinates into mine laneway control measurement coordinate point cloud data. According to the scheme provided by the invention, the target position can be quickly determined, the control point center can be accurately positioned, and the three-dimensional scanning data processing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of three-dimensional data acquisition technology, and in particular to a method and system for three-dimensional data acquisition in mine shafts and tunnels. Background Technology

[0002] Mine surveying provides essential basic data and results for mine planning, design, exploration, construction, production, and operation management, especially in the implementation of large-scale tunnel projects and accurate mapping of goaf areas. With the increasing scale and complexity of mine development, 3D laser scanning surveying has rapidly developed in mine tunnel surveying due to its high efficiency, accuracy, and intuitive technical advantages.

[0003] In 3D laser scanning measurement, the measurement of the target center point plays a crucial role, significantly impacting the efficiency of 3D scanning data acquisition and modeling accuracy. Currently, there are two main methods for measuring the target center point: one is to determine it by suspending a target and measuring its height using a line drawn from the control point on the roadway roof; the other is to determine it by measuring targets placed on both sides of the roadway using the control point on the roadway roof. The former has problems such as difficulty in drawing a line from the center hole of the control point in large-section roadways, the impact of oscillating targets on the quality of 3D laser scanning data and increasing the difficulty of extracting the target center point, long distance measurement time, and the existence of height measurement errors. The latter requires a large amount of target setting work, resulting in a large measurement workload, measurement errors in the coordinates of the target center point, and the difficulty in preserving the targets due to construction activities. Furthermore, since the control measurement points in mine roadways are different and the requirements for 3D data acquisition vary, different 3D data acquisition methods need to be adopted based on the current situation in order to quickly obtain 3D point cloud data and reduce the time spent on invalid data acquisition.

[0004] Therefore, it is necessary to study a three-dimensional data acquisition method based on high echo intensity target control points in mine tunnels, improve mine tunnel control points, optimize mine tunnel control measurement methods, simplify the three-dimensional laser scanning data acquisition steps, improve the target point coordinate capture accuracy, and achieve the effect of quickly acquiring data information and improving modeling accuracy. Summary of the Invention

[0005] To address or partially address the problems existing in related technologies, this application provides a method and system for acquiring three-dimensional data of mine shafts and tunnels, aiming to solve the problems of large workload and low accuracy in acquiring three-dimensional data of mine shafts and tunnels.

[0006] The first aspect of this application provides a method for acquiring three-dimensional data of mine tunnels, including: The control points of mine shafts and tunnels are integrated with the three-dimensional laser scanning targets in the high echo intensity target control points of mine shafts and tunnels; High echo intensity target control points are set up on the stable rock mass of the mine tunnel roof, and coordinateless high echo intensity targets are set up on the tunnel sidewalls. The coordinates of the high echo intensity target control points and the coordinateless high echo intensity targets are obtained. The high echo intensity target control points and coordinateless high echo intensity targets in the mine tunnels are numbered, auxiliary measuring points are set up, a multi-closed loop control measurement traverse network is formed through a special network layout structure, and adjustment processing is performed to determine the measurement operation process; According to the measurement operation process, a handheld 3D laser scanner is used to carry out scanning work, collect 3D point cloud data, and simultaneously obtain the 3D data acquisition trajectory. Specifically, when collecting data to a high echo intensity target control point in a mine tunnel, the scanner is used to collect data around the measurement point, increasing the density of the 3D data acquisition point cloud around the measurement point and forming a 3D data acquisition loop trajectory. When collecting data to a coordinateless high echo intensity target, the scanner is used to collect data around the target area, forming a 3D data acquisition loop trajectory for the target area. By mapping the high echo intensity target control points in the mine shafts to the three-dimensional scanning point cloud measurement points one by one, and converting the point cloud data in relative coordinates into mine shaft control measurement coordinate point cloud data through point-to-point data analysis.

[0007] Optionally, in some embodiments of the first aspect, the mine tunnel control points are integrated with the three-dimensional laser scanning target at the high echo intensity target control points in the mine tunnel, including: A double-helix copper wire is wound around a threaded cylindrical control point, with both ends of the double-helix copper wire penetrating into the target's adhesive layer. The threaded cylindrical control point with the double-helix copper wire is placed inside the drill hole. The engineering line or plumb line is passed through the central fine hole of the threaded cylindrical control point to accurately center the measuring instrument or target and control the centering error. The back target, the front target, and the target adhesive layer together constitute a high echo intensity target. The target and the threaded cylindrical control point are integrated into a whole by cement cementing material. The back target and the front target are bonded together by the target adhesive layer to further reinforce the target, which is used for three-dimensional laser scanning measurement.

[0008] Optionally, in some embodiments of the first aspect, the coordinateless high echo intensity target includes: The front target is bonded to the sidewall of the shaft and the surrounding rock of the shaft and stabilized by the target adhesive layer, and then fixed with expansion bolts. The density of coordinateless high echo intensity targets is greater than that of high echo intensity target control points in mine tunnels, in order to meet the needs of subsequent 3D scanning.

[0009] Optionally, in some embodiments of the first aspect, the high echo intensity target control points and coordinateless high echo intensity targets in the mine tunnels are numbered, and auxiliary measuring points are set, including: The high echo intensity target control points and coordinate-free high echo intensity targets in mine tunnels are numbered sequentially to form a set of high echo intensity target control points A={A1, A2, ..., An} and a set of coordinate-free high echo intensity targets B={B1, B2, ..., Bn}. Starting from the high echo intensity target control point A3 in the mine tunnel, an auxiliary measuring point is set up on one side of each control point, denoted as A'={A3-1, A5-1, ..., An-1}.

[0010] Optionally, in some embodiments of the first aspect, a multi-closed-loop control measurement traverse network is formed through a special network layout structure, including: A multi-closed-loop control survey traverse network is formed through a special network layout. The first station is set up at point A2, and the orientation is determined by backsight at point A1. Points A3 and A3-1 are measured. The second station is set up at point A3, and the orientation is determined by backsight at point A2. Point A4 is measured. The third station is set up at point A4, and the orientation is determined by backsight at point A3. Points A3-1, A5, and A5-1 are measured. The operation steps from the first to the third station are repeated at point A5 until the last measuring point is measured, thus realizing the traverse extension measurement. The multi-closed-loop control survey traverse network measured point A3-1 at both stations A2 and A4. By comparing the coordinate difference and angular closure error of A3-1, it was determined whether there were any errors in the construction process. Points A1, A2, A3, A4 and A3-1 form a closed traverse network, which is then adjusted to improve the accuracy of control measurements.

[0011] Optionally, in some embodiments of the first aspect, acquiring three-dimensional point cloud data includes: The 3D laser scanner determines the relative position of the shaft and the 3D laser scanner by using the different round-trip times of the laser beam to the shaft. Based on the characteristic that different objects have different laser reflection intensities and the scanned point cloud data displays different colors, 3D point cloud data is obtained. By utilizing the high echo intensity of high echo intensity target control points in mine tunnels and coordinateless high echo intensity targets, the point cloud display shows a significant color difference with the point cloud display of surrounding rock and other materials in the tunnels, thus obtaining the center point of the three-dimensional point cloud target.

[0012] Optionally, in some embodiments of the first aspect, converting point cloud data in relative coordinates into mine tunnel control measurement coordinate point cloud data includes: When there are few control points in the mine shafts and tunnels, the coordinateless high echo intensity target of the two phases of three-dimensional point clouds is matched. After more than three three-dimensional point cloud common control measurement points are confirmed, the three-dimensional point cloud data is converted into mine shaft and tunnel control measurement coordinate point cloud data through the coordinates of the common control measurement points.

[0013] Optionally, in some embodiments of the first aspect, the method for acquiring three-dimensional data of mine tunnels further includes: During the development and construction of mines, it is necessary to carry out three-dimensional data acquisition in multiple phases. In the first phase, three-dimensional point cloud data of three or more high echo intensity target control points and coordinateless high echo intensity targets in mine tunnels can be collected. In the later phase, it is only necessary to repeatedly collect three or more coordinateless high echo intensity targets to realize the stitching of three-dimensional point cloud data and reduce the amount of three-dimensional point cloud data to be collected.

[0014] The second aspect of this application provides a three-dimensional data acquisition system for mine shafts and tunnels, comprising: High echo intensity target control point in mine tunnels, coordinate-free high echo intensity target, control measurement module, three-dimensional data acquisition module and data matching module; The high echo intensity target control point in mine tunnels includes a threaded cylindrical control point, cementitious material, double-helix copper wire, a back target, a front target, a target gel layer, and a central aperture. The threaded cylindrical control point is drilled into a stable surrounding rock in the tunnel and reinforced with cementitious material. A central aperture is located at the lower end of each threaded cylindrical control point, through which an engineering line or plumb line passes for precise centering of measuring instruments or targets. The threaded cylindrical control point passes through the center of both the back and front targets. The double-helix copper wire is wound around the threaded cylindrical control point, with both ends penetrating into the target gel layer between the back and front targets. The high echo intensity of the front target allows for rapid differentiation between the target and the surrounding rock or other materials in the tunnel, enabling rapid target location. The coordinateless high echo intensity target consists of a front target, a target gel layer, and expansion bolts; the front target is fixed to the surrounding rock of the shaft sidewall by the target gel layer and expansion bolts. The control measurement module is used to design multi-closed-loop control measurement traverse networks and perform adjustment processing; The 3D data acquisition module is a 3D laser scanner; The data matching module is used for 3D point cloud coordinate matching and 3D point cloud data stitching.

[0015] The technical solution provided in this application may include the following beneficial effects: By integrating mine control points with 3D laser scanning targets using high-echo-intensity target control points, a rapid wire can be drawn from the center of the control point through a fine hole, ensuring long-term preservation of both the control point and the target. Multiple 3D scans require only a single target deployment. A multi-closed-loop control survey traverse network creates redundant observation conditions, improving control survey accuracy and effectively verifying for errors during the measurement process. Utilizing the high echo intensity of the target and the low reflection intensity of the control point reduces the difficulty of extracting the target center point, quickly determining the target position and accurately locating the control point center. A circular motion is performed during 3D data acquisition to increase the density of the 3D point cloud around the measurement point, ensuring the quality of the 3D point cloud data. By matching mine control points with 3D scanning point cloud measurement points, the point cloud data is converted into mine shaft control survey coordinate point cloud data, improving the efficiency of 3D scanning data processing.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0018] Figure 1 This is a flowchart illustrating a three-dimensional data acquisition method for mine tunnels according to an embodiment of this application; Figure 2 This is a schematic diagram of the high echo intensity target control point structure of a three-dimensional data acquisition system for mine shafts and tunnels, as shown in the embodiments of this application. Figure 3 This is a bottom view schematic diagram of the high echo intensity target control point in the mine shaft and tunnel of the three-dimensional data acquisition system shown in the embodiments of this application; Figure 4 This is a schematic diagram of the installation of a coordinateless high echo intensity target for a three-dimensional data acquisition system for mine tunnels, as shown in an embodiment of this application. Figure 5 This is a schematic diagram of the measurement route for a three-dimensional data acquisition method for mine tunnels shown in the embodiments of this application; Figure 6 This is a schematic diagram of the three-dimensional data acquisition trajectory of the three-dimensional data acquisition method for mine tunnels shown in the embodiments of this application; Figure 7 This is a schematic diagram of the acquisition of three-dimensional point cloud and control point data in a three-dimensional data acquisition method for mine tunnels, as shown in the embodiments of this application.

[0019] Attached reference numerals: 1-Stabilizing the surrounding rock of the shaft / tunnel, 2-Drill hole, 3-Threaded cylindrical control point, 4-Cement cementitious material, 5-Double helical copper wire, 6-Back target, 7-Front target, 8-Target gelatinous layer, 9-Central fine hole, 10-Expansion bolt. Detailed Implementation

[0020] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0021] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0023] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] In 3D laser scanning measurement, the measurement of the target center point plays a crucial role, significantly impacting the efficiency of 3D scanning data acquisition and modeling accuracy. Currently, there are two main methods for measuring the target center point: one is to determine it by suspending a target and measuring its height using a line drawn from the control point on the roadway roof; the other is to determine it by measuring targets placed on both sides of the roadway using the control point on the roadway roof. The former has problems such as difficulty in drawing a line from the center hole of the control point in large-section roadways, the impact of oscillating targets on the quality of 3D laser scanning data and increasing the difficulty of extracting the target center point, long distance measurement time, and the existence of height measurement errors. The latter requires a large amount of target setting work, resulting in a large measurement workload, measurement errors in the coordinates of the target center point, and the difficulty in preserving the targets due to construction activities. Furthermore, since the control measurement points in mine roadways are different and the requirements for 3D data acquisition vary, different 3D data acquisition methods need to be adopted based on the current situation in order to quickly obtain 3D point cloud data and reduce the time spent on invalid data acquisition.

[0025] To address the aforementioned issues, this application provides a method and system for acquiring three-dimensional data in mine tunnels. It integrates mine control points with three-dimensional laser scanning targets using high-echo-intensity target control points. This allows for rapid wire drawing from a fine hole at the control point's center, ensuring long-term preservation of both control points and targets. Multiple three-dimensional scans require only one target deployment. The use of a multi-closed-loop control measurement traverse network creates redundant observation conditions, improves control measurement accuracy, and effectively verifies for errors during the measurement process. By utilizing the high echo intensity of the target and the low reflection intensity of the control point, the difficulty of extracting the target's center point is reduced, enabling rapid determination of the target position and precise positioning of the control point's center. A circular motion is performed during three-dimensional data acquisition to increase the density of the three-dimensional point cloud data around the measurement point, ensuring the quality of the three-dimensional point cloud data. By matching mine control points with the three-dimensional scanning point cloud measurement points, the point cloud data is converted into mine tunnel control measurement coordinate point cloud data, improving the efficiency of three-dimensional scanning data processing.

[0026] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0027] Figure 1 This is a flowchart illustrating a three-dimensional data acquisition method for mine tunnels as shown in an embodiment of this application.

[0028] See Figure 1 A method for acquiring three-dimensional data of mine tunnels, comprising: S101. Integrate the mine shaft control points with the three-dimensional laser scanning target in the high echo intensity target control points of the mine shaft; Specifically, the integration of mine tunnel control points with 3D laser scanning targets within the high echo intensity target control points of the mine tunnels includes: 3. Threaded cylindrical control point; 4. Cement cementitious material; 5. Double helical copper wire; 6. Back target; 7. Front target; 8. Target adhesive layer; and 9. Central fine hole. A threaded cylindrical control point 3 is installed in a borehole 2 on a stable surrounding rock 1 in a tunnel. The front end of the threaded cylindrical control point 3 passes through the center of the back target 6 and the front target 7. A double-helix copper wire 5 is wound around the threaded cylindrical control point 3, so that both ends of the double-helix copper wire 5 penetrate into the target gel layer 8 between the back target 6 and the front target 7.

[0029] A threaded cylindrical control point 3, wound with a double-helix copper wire 5, is placed inside a borehole 2 in the stable surrounding rock of the shaft 1 and reinforced with cementitious material 4. An engineering line or plumb line is passed through the central fine hole 9 of the threaded cylindrical control point 3 for precise centering of measuring instruments or targets, controlling centering errors. The back target 6 and the front target 7 are bonded together through the target adhesive layer 8. The copper wire at the end of the double-helix copper wire 5 penetrates into the target adhesive layer 8, and the back target 6 is bonded to the surface formed by the cementitious material 4. The target and the threaded cylindrical control point 3 are connected into a whole by the double-helix copper wire 5 and the cementitious material 4, further reinforcing the target and ensuring its long-term preservation.

[0030] S102. High echo intensity target control points are set up on the stable rock mass of the mine tunnel roof, and coordinateless high echo intensity targets are set up on the sidewalls of the mine tunnel. The coordinates of the high echo intensity target control points and the coordinateless high echo intensity targets are obtained. Coordinate-free high echo intensity targets, including: The front target 7 is bonded to the sidewall of the mine tunnel and stabilized on the surrounding rock through the target adhesive layer 8, and is fixed with expansion bolts 10; the density of the coordinateless high echo intensity targets is greater than that of the high echo intensity target control points in the mine tunnel, so as to meet the needs of the subsequent three-dimensional scanning.

[0031] When conducting control surveys in mine tunnels, the use of 3D laser scanning target coordinates eliminates the need for extensive 3D laser scanning target measurements at mine tunnel control points. It also eliminates the need for tasks such as establishing fine-hole guide lines at control points, repeatedly suspending 3D laser scanning targets, and traversing distances from tunnel control points to the targets. This simplifies pre-scanning preparation and improves 3D data acquisition efficiency. Given the relatively uniform distribution of tunnel control points, it reduces errors when matching overly concentrated or discrete target points, improving 3D modeling accuracy. Coordinate-free high-echo-intensity targets enable rapid stitching of two or more phases of 3D scanning data. Matching multiple coordinate-free high-echo-intensity target points reduces point cloud matching errors and improves matching accuracy.

[0032] S103. Number the high echo intensity target control points and coordinateless high echo intensity targets in the mine tunnels, set up auxiliary measuring points, form a multi-closed loop control measurement traverse network through a special network layout structure, perform adjustment processing, and determine the measurement operation process. Specifically, high echo intensity target control points and coordinateless high echo intensity targets in mine tunnels are numbered, and auxiliary measuring points are set up, including: like Figure 5 As shown, the high echo intensity target control points and coordinate-free high echo intensity targets in mine tunnels are numbered sequentially to form a set of high echo intensity target control points in mine tunnels A={A1, A2, ..., An} and a set of coordinate-free high echo intensity targets B={B1, B2, ..., Bn}. Starting from the high echo intensity target control point A3 in the mine tunnel, an auxiliary measuring point is set up on one side of each control point, denoted as A'={A3-1, A5-1, ..., An-1}.

[0033] Specifically, a multi-closed-loop control survey traverse network is formed through a special network layout, including: A multi-closed-loop control survey traverse network is formed through a special network layout, strategically connecting the required control points and auxiliary points to form a specific geometric network. The specific workflow is as follows: the first station is set up at point A2, backsighted to point A1 for orientation, and points A3 and A3-1 are measured; the second station is set up at point A3, backsighted to point A2 for orientation, and point A4 is measured; the third station is set up at point A4, backsighted to point A3 for orientation, and points A3-1, A5, and A5-1 are measured; a station is set up at point A5, and the steps from the first to the third station are repeated until the last measuring point is measured, thus achieving traverse extension measurement; point A3-1 is measured at both stations A2 and A4 in the multi-closed-loop control survey traverse network, and by comparing the coordinate difference and angular closure error of A3-1, errors in the construction process are determined; points A1, A2, A3, A4, and A3-1 form a closed traverse network, which is then adjusted to improve the accuracy of the control survey.

[0034] Adjustment processing involves establishing an observation function model describing the relationship between the coordinates of all observation points and control points, based on the multi-closed-loop control survey traverse network (the relationships between points, edges, and angles). Using the least squares criterion, a normal equation is formed from the observation equations and the weight matrix. Solving this large system of equations yields the solutions for the unknowns, coordinate corrections ΔX, ΔY, ΔZ, or the final coordinates. These are then added to the original observation points to obtain the "adjusted values".

[0035] S104. Following the measurement workflow, a handheld 3D laser scanner is used to perform scanning, acquiring 3D point cloud data and simultaneously obtaining the 3D data acquisition motion trajectory; such as... Figure 6As shown, when data is collected from a high echo intensity target control point in a mine tunnel, data is collected around the measuring point to increase the density of the three-dimensional data collection point cloud around the measuring point, forming a three-dimensional data collection loop trajectory; when data is collected from a high echo intensity target without coordinates, data is collected around the target area to form a three-dimensional data collection loop trajectory for the target area. Acquire 3D point cloud data, including: The 3D laser scanner determines the relative position of the mine shaft and the 3D laser scanner by measuring the different round-trip times of the laser beam; it acquires 3D point cloud data by utilizing the different laser reflection intensities of different objects, which result in different colors in the scanned point cloud data; and it obtains the center point of the 3D point cloud target by utilizing the high echo intensity of the high echo intensity of the control point of the mine shaft and the high echo intensity of the target without coordinates, which creates a significant color difference between the point cloud display and the point cloud display of the surrounding rock and other materials in the mine shaft.

[0036] S105. Correspond one-to-one with the high echo intensity target control points in the mine tunnels and the three-dimensional scanning point cloud measurement points. Through point-to-point data analysis, convert the point cloud data in relative coordinates into mine tunnel control measurement coordinate point cloud data.

[0037] Specifically, the point cloud data in relative coordinates is converted into point cloud data for mine tunnel control surveys, including: The point cloud coordinates acquired by a handheld 3D laser scanner are used as relative coordinates and matched with the control survey coordinates of the mine shafts. For example... Figure 7 As shown, in the 3D data acquisition data, the 3D scanning trajectory is recorded. The circular trajectory around the perimeter is the surrounding measurement point. Points C1-Cn can be quickly located in the 3D scanning point cloud, and points D1-Dn can also be quickly obtained. The control measurement points A1 to An of the mine shaft and tunnel correspond one-to-one with the measurement points C1 to Cn of the 3D scanning point cloud. Through point-to-point data calculation, the point cloud data under relative coordinates is converted into mine shaft and tunnel control measurement coordinate point cloud data by translation and rotation methods, and the accuracy of the 3D point cloud transformation plane and elevation after matching is evaluated.

[0038] When there are few control points in the mine shafts and tunnels, the coordinateless high echo intensity target of the two phases of three-dimensional point clouds is matched. After more than three three-dimensional point cloud common control measurement points are confirmed, the three-dimensional point cloud data is converted into mine shaft and tunnel control measurement coordinate point cloud data through the coordinates of the common control measurement points.

[0039] During the development and construction of mines, it is necessary to carry out three-dimensional data acquisition in multiple phases. In the first phase, three-dimensional point cloud data of three or more high echo intensity target control points and coordinateless high echo intensity targets in mine tunnels can be collected. In the later phase, it is only necessary to repeatedly collect three or more coordinateless high echo intensity targets to realize the stitching of three-dimensional point cloud data and reduce the amount of three-dimensional point cloud data to be collected.

[0040] Corresponding to the aforementioned application function implementation device embodiments, this application also provides a three-dimensional data acquisition system for mine shafts and tunnels and corresponding embodiments.

[0041] A three-dimensional data acquisition system for mine shafts and tunnels includes: High echo intensity target control point in mine tunnels, coordinate-free high echo intensity target, control measurement module, three-dimensional data acquisition module and data matching module; like Figure 2 As shown, the high echo intensity target control point in a mine tunnel includes a threaded cylindrical control point 3, cementitious material 4, double-helix copper wire 5, a back target 6, a front target 7, a target gel layer 8, and a central aperture 9. The threaded cylindrical control point 3 is installed in a borehole drilled into the stable surrounding rock of the tunnel and reinforced with cementitious material 4. The lower end of the threaded cylindrical control point 3 has a central aperture 9 through which an engineering line or plumb line passes for precise centering of measuring instruments or targets. The threaded cylindrical control point 3 passes through the center of the back target 6 and the front target 7. The double-helix copper wire 5 is wound around the threaded cylindrical control point 3, with both ends of the double-helix copper wire 5 penetrating into the target gel layer 8 between the back target 6 and the front target 7. The high echo intensity characteristics of the front target 7 are used to quickly distinguish the target from the surrounding rock or other materials in the tunnel, and to quickly locate the target position. like Figure 4 As shown, the coordinateless high echo intensity target includes a front target 7, a target adhesive layer 8, and expansion screws 10; the front target 7 is fixed to the surrounding rock of the tunnel sidewall through the target adhesive layer 8 and expansion screws 10. The control measurement module is used to design multi-closed-loop control measurement traverse networks and perform adjustment processing; The 3D data acquisition module is a 3D laser scanner; The data matching module is used for 3D point cloud coordinate matching and 3D point cloud data stitching.

[0042] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for acquiring three-dimensional data of mine tunnels, characterized in that, include: The control points of mine shafts and tunnels are integrated with the three-dimensional laser scanning targets in the high echo intensity target control points of mine shafts and tunnels; High echo intensity target control points of the mine tunnel are set up on the stable rock mass of the mine tunnel roof, and coordinateless high echo intensity targets are set up on the tunnel sidewalls. The coordinates of the high echo intensity target control points and the coordinateless high echo intensity targets are obtained. The high echo intensity target control points and coordinateless high echo intensity targets in the mine tunnels are numbered, auxiliary measuring points are set up, a multi-closed loop control measurement traverse network is formed through a special network layout structure, and adjustment processing is performed to determine the measurement operation process; According to the measurement operation process, a handheld 3D laser scanner is used to carry out scanning work, collect 3D point cloud data, and simultaneously obtain the 3D data acquisition trajectory. Specifically, when collecting data to a high echo intensity target control point in a mine tunnel, the scanner is used to collect data around the measurement point, increasing the density of the 3D data acquisition point cloud around the measurement point and forming a 3D data acquisition loop trajectory. When collecting data to a coordinateless high echo intensity target, the scanner is used to collect data around the target area, forming a 3D data acquisition loop trajectory for the target area. By mapping the high echo intensity target control points in the mine shafts to the three-dimensional scanning point cloud measurement points one by one, and converting the point cloud data in relative coordinates into mine shaft control measurement coordinate point cloud data through point-to-point data analysis.

2. The method for acquiring three-dimensional data of mine tunnels according to claim 1, characterized in that, The integration of mine tunnel control points with three-dimensional laser scanning targets within high-echo intensity target control points in mine tunnels includes: A double-helix copper wire is wound around a threaded cylindrical control point, with both ends of the double-helix copper wire penetrating into the target's adhesive layer. The threaded cylindrical control point with the double-helix copper wire is placed inside the drill hole. The engineering line or plumb line is passed through the central fine hole of the threaded cylindrical control point to accurately center the measuring instrument or target and control the centering error. The back target, the front target, and the target adhesive layer together constitute a high echo intensity target. The target and the threaded cylindrical control point are integrated into a whole by cement cementing material. The back target and the front target are bonded together by the target adhesive layer to further reinforce the target, which is used for three-dimensional laser scanning measurement.

3. The method for acquiring three-dimensional data of mine tunnels according to claim 1, characterized in that, The coordinateless high echo intensity target includes: The front target is bonded to the sidewall of the shaft and the surrounding rock of the shaft and stabilized by the target adhesive layer, and then fixed with expansion bolts. The density of coordinateless high echo intensity targets is greater than that of high echo intensity target control points in mine tunnels, in order to meet the needs of subsequent 3D scanning.

4. The method for acquiring three-dimensional data of mine tunnels according to claim 1, characterized in that, The process of numbering the high echo intensity target control points and coordinateless high echo intensity targets in mine tunnels and setting auxiliary measuring points includes: The high echo intensity target control points and coordinate-free high echo intensity targets in mine tunnels are numbered sequentially to form a set of high echo intensity target control points A={A1, A2, ..., An} and a set of coordinate-free high echo intensity targets B={B1, B2, ..., Bn}. Starting from the high echo intensity target control point A3 in the mine tunnel, an auxiliary measuring point is set up on one side of each control point, denoted as A'={A3-1, A5-1, ..., An-1}.

5. The method for acquiring three-dimensional data of mine tunnels according to claim 1, characterized in that, The multi-closed-loop control measurement traverse network formed by a special network structure includes: A multi-closed-loop control survey traverse network is formed through a special network layout. The first station is set up at point A2, and the orientation is determined by backsight at point A1. Points A3 and A3-1 are measured. The second station is set up at point A3, and the orientation is determined by backsight at point A2. Point A4 is measured. The third station is set up at point A4, and the orientation is determined by backsight at point A3. Points A3-1, A5, and A5-1 are measured. The operation steps from the first to the third station are repeated at point A5 until the last measuring point is measured, thus realizing the traverse extension measurement. The multi-closed-loop control survey traverse network measured point A3-1 at both stations A2 and A4. By comparing the coordinate difference and angular closure error of A3-1, it was determined whether there were any errors in the construction process. Points A1, A2, A3, A4 and A3-1 form a closed traverse network, which is then adjusted to improve the accuracy of control measurements.

6. The method for three-dimensional data acquisition in mine tunnels according to claim 1, characterized in that, The acquired 3D point cloud data includes: The 3D laser scanner determines the relative position of the shaft and the 3D laser scanner by using the different round-trip times of the laser beam to the shaft. Based on the characteristic that different objects have different laser reflection intensities and the scanned point cloud data displays different colors, 3D point cloud data is obtained. By utilizing the high echo intensity of high echo intensity target control points in mine tunnels and coordinateless high echo intensity targets, the point cloud display shows a significant color difference with the point cloud display of surrounding rock and other materials in the tunnels, thus obtaining the center point of the three-dimensional point cloud target.

7. The method for acquiring three-dimensional data of mine tunnels according to claim 1, characterized in that, The process of converting point cloud data in relative coordinates into point cloud data for mine tunnel control surveys includes: When there are few control points in the mine shafts and tunnels, the coordinateless high echo intensity target of the two phases of three-dimensional point clouds is matched. After more than three three-dimensional point cloud common control measurement points are confirmed, the three-dimensional point cloud data is converted into mine shaft and tunnel control measurement coordinate point cloud data through the coordinates of the common control measurement points.

8. The method for acquiring three-dimensional data of mine tunnels according to claim 1, characterized in that, Also includes: During the development and construction of mines, it is necessary to carry out three-dimensional data acquisition in multiple phases. In the first phase, three-dimensional point cloud data of three or more high echo intensity target control points and coordinateless high echo intensity targets in mine tunnels can be collected. In the later phase, it is only necessary to repeatedly collect three or more coordinateless high echo intensity targets to realize the stitching of three-dimensional point cloud data and reduce the amount of three-dimensional point cloud data to be collected.

9. A three-dimensional data acquisition system for mine shafts and tunnels, applicable to the three-dimensional data acquisition method for mine shafts and tunnels as described in any one of claims 1-8, characterized in that, include: High echo intensity target control point in mine tunnels, coordinate-free high echo intensity target, control measurement module, three-dimensional data acquisition module and data matching module; The high echo intensity target control point in the mine tunnel includes a threaded cylindrical control point (3), cementitious material (4), double helical copper wire (5), a back target (6), a front target (7), a target gel layer (8), and a central fine hole (9). The threaded cylindrical control point (3) is installed in a borehole on the stable surrounding rock of the tunnel and is reinforced by cementitious material (4). The lower end of the threaded cylindrical control point (3) is provided with a central fine hole (9), through which the engineering line or plumb line passes for precise centering of measuring instruments or targets. The threaded cylindrical control point (3) passes through the center of the back target (6) and the front target (7), and the double helical copper wire (5) is wound around the threaded cylindrical control point (3). The two ends of the double helical copper wire (5) penetrate into the target gel layer (8) between the back target (6) and the front target (7). The high echo intensity characteristics of the front target (7) are used to quickly distinguish the target from the surrounding rock or other materials in the tunnel and quickly locate the target position. The coordinateless high echo intensity target includes a front target (7), a target adhesive layer (8), and expansion screws (10); the front target (7) is fixed to the surrounding rock of the tunnel sidewall through the target adhesive layer (8) and expansion screws (10); The control measurement module is used to design multi-closed-loop control measurement traverse networks and perform adjustment processing; The three-dimensional data acquisition module is a three-dimensional laser scanner; The data matching module is used for 3D point cloud coordinate matching and 3D point cloud data stitching.

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