The invention belongs to the technical field of
mining engineering, discloses a mining roadway non-uniform three-dimensional deformation grading calculation and
analysis method, and aims to solve the problems that a traditional
point cloud comparison method is low in precision and large in error in a roadway high-deformation and non-uniform-deformation environment, and traditional monitoring wiring is complex and cannot achieve global coverage. According to the technical key points, in a GNSS-free underground environment, a portable three-dimensional
laser scanning device integrating SLAM synchronous positioning and a map construction technology is adopted to collect two-stage roadway
point cloud data, a
centimeter-level precision three-dimensional model is constructed through a
pose map optimization
algorithm, a two-stage deformation hierarchical optimization
algorithm is designed, and a two-stage deformation hierarchical optimization
algorithm is designed. In the first stage, a deformation core point is selected based on super
voxel segmentation, rough calculation is performed in a cylindrical
projection space, and a key deformation area is rapidly identified, and in the second stage, a refined displacement amount is calculated for a point whose displacement exceeds a threshold value through geometric constraint and a
centroid method, and the
data quality is improved in combination with
point cloud denoising, so that high-precision
continuous monitoring of the full section of the roadway is realized.