Device and method for quickly scanning underground mine goaf based on unmanned aerial vehicle

Abstract

The invention provides a device and a method for quickly scanning underground mine goaf based on an unmanned aerial vehicle, and belong to the technical filed of mine measurement and safety. The method relates to an intelligent unmanned flight system, an airborne three-dimension laser scanning system, an LED (light-emitting diode) illuminating system, a bundled software, a terminal wireless transmission module and the like. According to the invention, an improved SLAM and a space coverage algorithm are adopted, the autonomous obstacle avoidance flight of the unmanned aerial vehicle and the autonomous planning of a scanning path can be realized through combining the sensor data and three-dimension laser screening data arranged in the unmanned aerial vehicle; the real-time generation and visualization of three-dimensional point-cloud model for the goaf is realized through connection of a wireless communication and a terminal. The method has the advantages that the scanning speed is quick, the accuracy is high, the automatic and intelligent scanning for the underground goaf can be realized by mutually matching sensors, laser screeners and the bundled software and is an ideal scanningmethod and direction for future development.

Description

technical field [0001] The invention relates to the technical field of mine surveying and safety, in particular to a fast scanning device and method for an underground mine goaf based on an unmanned aerial vehicle. Background technique [0002] Underground mining is the main way of extracting mineral resources. Since the end of the 20th century, the mining order in my country has been relatively chaotic. Illegal and disorderly mining has left a large number of gobs in some mines and their surrounding areas, which has become one of the main hazards to mine safety. The stability of the goaf is directly related to the production safety of deep mines. Therefore, it is of great significance to study the stability of the goaf in deep stopes and deal with it in time. Due to the complexity of underground mining, goafs have different shapes, and the shape of goafs is one of the key factors affecting the stability of goafs. Therefore, accurately obtaining the spatial shape of goafs i...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at problems such as low scanning efficiency, easy blocking of equipment, complex data processing and poor adaptability in three-dimensional laser detection of goafs in underground mines, and provides a fast scanning device and method for goafs in underground mines based on an unmanned aerial vehicle. It can not only improve the scanning efficiency, shorten the scanning time, but also improve the scanning accuracy and reduce the difficulty of post-modeling processing

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