Key technologies and engineering practice of 3D laser scanning in coal mine roadways
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摘要: 智能化、无人化开采是煤炭行业发展的必然趋势，精准地质信息探测是当前智慧煤矿建设中的重点研发方向之一，其中巷道信息的精准探测和巷道三维模型的快速获取是地质透明化的重要数据来源。对比分析传统巷道建模方法及其优缺点，提出利用三维激光扫描重建技术构建高精度透明工作面巷道模型的技术思路。在分析煤矿井下工况环境长距离三维激光扫描面临的技术难题的基础上，研究三维激光扫描原理和空间点坐标计算方法，并提出透明工作面巷道三维激光扫描重建技术流程，其关键技术包括：三维激光扫描系统动态标定和坐标转换方法；点云预处理技术中基于统计滤波法的大尺度噪声滤波方法和基于移动最小二乘的小尺度噪声滤波算法；点云关键点提取与特征描述技术中SIFT特征检测算法和FPFH特征描述算法；点云配准技术中基于FPFH特征描述算法的粗配准技术和基于迭代最近点算法的精配准技术。以准格尔煤田唐家会煤矿某工作面为研究对象，利用自主研发的移动式三维激光扫描系统从三维激光扫描施工流程、巷道点云数据采集、边界轮廓线提取、巷道与工作面联合建模等方面进行实践应用。结果表明，提出的基于三维激光扫描技术的工作面巷道三维重建思路在技术上是可行的，能为复杂巷道的快速三维扫描、重建提供一条可行的技术路径。Abstract: Intelligent and unmanned mining is an inevitable trend in the development of the coal industry. Precise geological information detection is one of the current key research and development directions in the construction of smart coal mines. The precise detection of information on roadways and the rapid acquisition of three-dimensional roadway models are important data sources for geological transparence. Through a comparative analysis of traditional roadway modeling methods and their advantages and disadvantages, a technical idea of using three-dimensional laser scanning reconstruction technology to construct a high-precision transparent working face roadway model is proposed. On the basis of the analysis of the technical problems faced by long-distance 3D laser scanning in underground coal mine working conditions, the principle of 3D laser scanning and the calculation method of spatial point coordinates are studied, and the realization process of the 3D laser scanning reconstruction technology of the roadway in transparent working faces is proposed. The key technologies of the 3D laser scanning reconstruction technology including the dynamic calibration of the 3D laser scanning system and the coordinate conversion method, the large-scale noise filtering method based on the statistical filtering method in the point cloud preprocessing technology and the small-scale noise filtering algorithm based on moving least squares, the SIFT feature detection algorithm and FPFH feature description algorithm in the point cloud key point extraction and feature description technology as well as the coarse registration technology based on the FPFH feature description algorithm in the point cloud registration technology and precise registration technology based on the iterative nearest point algorithm. Finally, the self-developed mobile 3D laser scanning system is used for practical application in three-dimensional laser scanning construction process, roadway point cloud data collection, boundary contour extraction, and joint modeling of roadways and working faces in working faces of Tangjiahui Coal Mine in Jungar Coalfield. The results show that the idea of 3D reconstruction of roadways in working faces based on 3D laser scanning technology proposed in the paper is technically feasible, providing a feasible technical path for fast 3D scanning and reconstruction of complex roadways.
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Key words:
- roadway /
- 3D laser scanning /
- point cloud data /
- 3D reconstruction
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表 1 移动式三维激光扫描系统主要技术参数
Table 1 Main technical parameters of mobile 3D laser scanning
测量距离/m 精度/m 视场角/(°) 分辨率/(°) 30 0.03 360×360 0.6 
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表 2 纵向切割精度
Table 2 Longitudinal cutting accuracy
巷道高度测量值/m 切片后测量值/m 偏差/m 3.40 3.408 0.008 3.42 3.427 0.007 3.41 3.426 0.016 3.32 3.293 −0.027 3.45 3.436 −0.090
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表 3 整体偏差
Table 3 Overall deviation
巷道距离/m 重叠度/% 偏差/m 0~5 413 98.253 0.251 5 463 97.892 0.315 5 513 97.217 0.442 5 563 96.684 0.534 5 625 95.587 0.675
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