煤矿巷道三维激光扫描关键技术及工程实践

王海军; 刘再斌; 雷晓荣; 韩保山; 陆自清

doi:10.12363/issn.1001-1986.21.10.0589

煤矿巷道三维激光扫描关键技术及工程实践

中煤科工集团西安研究院有限公司，陕西西安 710077

基金项目: 国家自然科学基金项目(41807190)；天地科技股份有限公司科技创新创业资金专项项目(2019-TD-ZD003，2020-TD-ZD002)

详细信息

作者简介:
王海军，1975年生，男，山东安丘人，博士，正高级工程师，从事数字矿山和智慧矿山研究. E-mail：732443531@qq.com

通讯作者:
雷晓荣，1981年生，男，陕西佳县人，硕士，研究员，从事透明矿井技术开发与应用研究. E-mail：leixiaorong@cctegxian.com

中图分类号: TP11
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出版历程
- 收稿日期: 2021-10-25
- 修回日期: 2021-11-21
- 录用日期: 2021-12-13
- 网络出版日期: 2022-01-26
- 发布日期: 2022-01-31

Key technologies and engineering practice of 3D laser scanning in coal mine roadways

Xi’an Research Institute Co. Ltd., China Coal Technology and Engineering Group Crop., Xi’an 710077, China

摘要

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。
- 巷道 /
- 三维激光扫描 /
- 点云数据 /
- 三维重建
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.
- roadway /
- 3D laser scanning /
- point cloud data /
- 3D reconstruction

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图 1 空间点坐标计算

Fig. 1 Calculation of the space point coordinate

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图 2 三维激光扫描技术流程

Fig. 2 3D laser scanning technology process

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图 3 仪器坐标系

Fig. 3 Coordinate system of the instrument

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图 4 施工前准备

Fig. 4 Preparation before construction

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图 5 巷道点云成果

Fig. 5 Results of roadway points cloud

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图 6 巷道点云轮廓

Fig. 6 The contour of roadway points cloud

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图 7 巷道与工作面联合建模

Fig. 7 Joint modeling of the roadway and working face

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图 8 巷道切片

Fig. 8 Roadway slicing

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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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