CN216673128U - Underground goaf three-dimensional point cloud data acquisition device - Google Patents
Underground goaf three-dimensional point cloud data acquisition device Download PDFInfo
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- CN216673128U CN216673128U CN202123376832.8U CN202123376832U CN216673128U CN 216673128 U CN216673128 U CN 216673128U CN 202123376832 U CN202123376832 U CN 202123376832U CN 216673128 U CN216673128 U CN 216673128U
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/30—Assessment of water resources
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Abstract
The utility model provides an underground goaf three-dimensional point cloud data acquisition device which comprises a control component, a transmission component, a camera, a laser scanner and a mechanical arm, wherein the control component is connected with the camera, the laser scanner and the mechanical arm through the transmission component, the camera and the laser scanner are fixed on the mechanical arm, an operator issues an operation instruction through the control component to enable the camera to acquire goaf image data and the laser scanner to acquire spatial data, the transmission component returns the acquired data in real time, the acquired data is modeled by using a synchronous positioning and map building technology, a goaf model is acquired, the accurate condition of the inside of a goaf is obtained, and the accuracy of the acquired data is improved.
Description
Technical Field
The application relates to the technical field of data acquisition, in particular to an underground goaf three-dimensional point cloud data acquisition device.
Background
The goaf is a cavity generated by digging mineral resources under the ground surface, has the characteristics of strong invisibility, poor space distribution regularity, difficult prediction of roof caving and collapse and the like, and has great threat to the safety of buildings or new projects above the goaf because the goaf changes the underground rock mass structure and destroys the mechanical balance of the underground rock mass. The method is characterized in that four methods of caving, sealing, reinforcing and filling are adopted for the treatment of the goaf, the caving and sealing methods are not suitable for the condition that a building or a newly-built project is arranged above the goaf, and the land resources are greatly wasted; the reinforcing and filling method can restore the mechanical balance of underground rock mass, so that the goaf does not threaten the safety of the upper building or the newly-built project, but the reinforcing and filling method needs to acquire the spatial data of the underground goaf, thereby having great significance for acquiring the internal data of the goaf.
The goaf space data can be acquired by a method of combining actual measurement data of mining with actual detection of the goaf, but the data cannot be acquired for the old goaf and the goaf of private mines, and the method only depends on actual detection of the goaf to acquire the data in the goaf. The goaf detection method comprises electromagnetic detection, seismic exploration, radioactivity measurement, peeping device detection and the like. Detecting resistivity changes between the interior of the goaf and the rock stratum mainly by an electromagnetic method, and further acquiring data in the goaf; the seismic exploration is to obtain spatial data of the goaf by utilizing the influence of the elastic difference of different media in the goaf on seismic waves; the radioactivity measurement is to obtain data by analyzing the radioactivity difference of the medium; the detection rule of the peeping device is to acquire data in the goaf through the device.
The detection method of the peeping device is widely applied due to simple and convenient arrangement and wide application range. However, the method has the problems that the peeping device can only collect regular rock stratum data, and the accuracy of data collection cannot be carefully detected in irregular areas collapsed on the top of the goaf.
SUMMERY OF THE UTILITY MODEL
The utility model provides an underground goaf three-dimensional point cloud data acquisition device, which aims to solve the problem of low goaf data acquisition accuracy.
The utility model provides an underground goaf three-dimensional point cloud data acquisition device, which comprises a control component, a transmission component, a detection component and a mechanical arm, wherein: the control component is connected with the detection component and the mechanical arm through the transmission component, a control assembly of the detection component and the mechanical arm is arranged in the control component, and the control assembly can operate the actions of the detection component and the mechanical arm; the detection component comprises a camera and a laser scanner, the camera and the laser scanner are connected with the transmission component, the camera can acquire image information of the goaf, the laser scanner is used for acquiring space scanning data, real-time transmission of the data is performed through the transmission component, and the image and the space data information of the goaf can be accurately acquired on the ground.
The mechanical arm comprises a telescopic arm, a fixing component, a motor, a connecting belt and a fixing block, the telescopic arm is formed by sleeving equal-length metal pipes, the starting end of the telescopic arm is connected with the fixing component, the tail end of the telescopic arm is connected with the detection component, and the fixing component is connected with the ground of a device layout area through a fixing bolt; the fixed block will the connecting band end is fixed in flexible arm end section metal pipe, the initiating terminal winding of connecting band is fixed on the rotor of motor. The motor rotor positively runs to drive the connecting belt, so that the tail metal pipe connected with the connecting belt moves, and the telescopic arm can be contracted; through the reverse operation of motor rotor, under the effect of gravity and connecting band, make flexible arm can extend, realized the flexible function of arm, the telescopic arm can have bigger home range in the collecting space area, has enlarged the data acquisition scope of surveying the component.
Optionally, the control member includes a control lever, the control lever is connected to the control assembly through a data line, and the control lever enables an operator to input an instruction to the control assembly, so that an operation target and an operation purpose are more specific.
Optionally, the transmission component includes transmission line and cable conductor, transmission line and cable conductor respectively have two, the one end of transmission line with control component connects, and the other end uses a transmission line and a cable conductor to divide into two sets ofly for a set of, a set ofly with the camera is connected, another set ofly with laser scanner connects, and the effect of transmission line is mainly transmitted the data that camera and laser scanner gathered, and the cable conductor is used for transmitting the signal of telecommunication of control camera and laser scanner and is supplied power for equipment simultaneously.
Optionally, the control component still includes the display, the display with transmission line connection, the display can be with the data visualization that camera and laser scanner gathered, makes ground can be in real time to the data of collecting space area survey.
Optionally, the camera is the camera that the camera lens angle can be adjusted, laser scanner is three-dimensional laser scanner, and camera lens angle adjustable camera can provide the more comprehensive image information of angle, and three-dimensional laser scanner can gather the three-dimensional space data in collecting space area, improves the precision of data collection.
Optionally, the detection component is still including surveying the cloud platform, it fixes to survey the cloud platform the end of flexible arm, camera and laser scanner pass through connecting bolt to be fixed survey on the cloud platform, fix camera and laser scanner through surveying the cloud platform, increase camera and laser scanner's stability.
Optionally, the detection cloud platform is a rectangular flat plate, the laser scanner is fixed to detect the cloud platform central point and put, the camera has two, is located respectively detect the both ends of cloud platform, and two cameras help acquireing more accurate image data.
Optionally, the transmission member is located in a metal pipe of the telescopic arm, and the transmission member can be protected from being damaged by the goaf rock.
Optionally, the arm still includes the rotating assembly, the rotating assembly sets up on the flexible arm, the rotating assembly passes through the transmission component with the control component is connected, the inside motor and the gearbox that contains of rotating assembly, the gearbox input with the rotor of motor is connected, the gearbox output with the shell of rotating assembly is connected, and it is rotatory to drive the rotating assembly through the rotation of motor rotor, and the power of gearbox conduction motor rotor converts the revolution of motor rotor into rotating assembly's rotation angle simultaneously.
Optionally, the arm still includes the strip lamp, the strip lamp is fixed the outside of flexible arm for provide the light source in the collecting space area, make image data collection more clear.
According to the utility model, by arranging the control component, the transmission component, the camera, the laser scanner and the mechanical arm, an operator can perform switching and rotating operations on the camera and the laser scanner through the control component, the camera collects image data of a goaf, the laser scanner collects spatial data, the shape characteristics of rock mass of the underground goaf can be more specifically restored through the image and the spatial data, the camera and the laser scanner are fixed on the mechanical arm, the detection range of the camera and the laser scanner is expanded through the control of the control component on the extension and the rotation of the mechanical arm, frequent replacement of detection positions is avoided, the transmission component returns the collected data in real time, so that the ground operator can see the current detection position, the operator can conveniently and continuously and safely collect the goaf data, and the accuracy of the collected data is improved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an underground goaf three-dimensional point cloud data acquisition device;
FIG. 2 is a schematic view of an installation structure of an underground goaf three-dimensional point cloud data acquisition device;
FIG. 3 is a schematic side view of the robot arm;
illustration of the drawings:
wherein, 1, a control component; 2. a transmission member; 3. a detecting member; 4. a mechanical arm; 5. a control lever; 6. a display; 7. a transmission line; 8. a camera; 9. a laser scanner; 10. detecting a holder; 11. a telescopic arm; 12. a fixing assembly; 13. a rotating assembly; 14. a strip light; 15. an electric motor; 16. a stretchable band; 17. and (5) fixing blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The goaf is a cavity formed after underground mineral development, and the formation of the goaf changes the structure of an underground rock mass and destroys the mechanical balance of the underground rock mass, so that the goaf has great threat to the safety of buildings or newly-built projects above the goaf. In order to avoid accidents caused by collapse of the goaf, the goaf needs to be processed, and before processing, detailed data acquisition work needs to be carried out on the goaf, so that accidents in the processing process are avoided. The peeping device detection method is simple and convenient to arrange and wide in application range, but the problem that data acquisition is not accurate enough exists, so that the utility model provides the underground goaf three-dimensional point cloud data acquisition device to solve the problem that the data acquisition accuracy is low.
As shown in fig. 1 to 3, the utility model provides an underground goaf three-dimensional point cloud data acquisition device, which comprises a control component 1, a transmission component 2, a detection component 3 and a mechanical arm 4, wherein the control component 1 is connected with the detection component 3 and the mechanical arm 4 through the transmission component 2, the control component 1 is internally provided with control components of the detection component 3 and the mechanical arm 4, the control component 1 generates a control signal through the control components, the control signal is transmitted to the detection component 3 or the mechanical arm 4 through the transmission component 2, and the detection component 3 and the mechanical arm 4 are controlled to carry out data acquisition work through the control signal which is continuously sent out.
The detection component 3 comprises a camera 8 and a laser scanner 9, the camera 8 and the laser scanner 9 are connected with the transmission component 2, collected data and issued control signals are transmitted through the transmission component 2, the camera 8 is used for collecting image information of the goaf, the laser scanner 9 is used for collecting space data of the goaf rock mass, such as size, concave-convex conditions and the like, and the combination of the image information and the space data can enable the information to be more visual and accurate.
As shown in fig. 3, the mechanical arm 4 further includes a motor 15, a connecting band 16 and a fixing block 17, the telescopic function of the telescopic arm 11 is realized by the combination of the motor 15, the connecting band 16 and the fixing block 17, the starting end of the connecting band 16 is wound and fixed on the rotor of the motor 15, and the tail end of the connecting band is connected with the inner wall of the tail metal tube of the telescopic arm 11 through the fixing block 17. When the telescopic arm 11 is in a fully opened state, the motor 15 is started, the rotor of the motor 15 rotates in the positive direction to roll up the connecting belt 16, and meanwhile, the connecting belt 16 drives the telescopic arm 11 to contract; when the telescopic arm 11 is completely contracted, the motor 15 is started, the rotor of the motor 15 rotates in the reverse direction to put down the connecting belt 16, the telescopic arm 11 is expanded under the action of gravity, and the expansion length of the telescopic arm 11 is judged according to the rotation number of the rotor of the motor 15.
In some embodiments of the present invention, the motor 15 has a maximum rotation limit, and the motor 15 is automatically stopped when the rotation of the rotor reaches the maximum rotation after the motor 15 is started, so as to prevent the motor 15 from damaging the connection belt 16.
In some embodiments of the present invention, the telescopic arm 11 may be hydraulically telescopic, and the hydraulic telescopic may control the telescopic length of the telescopic arm 11 more stably, and increase the stability of the detecting member 3 connected to the telescopic arm 11.
The transmission component 2 includes transmission line 7 and cable conductor, transmission line 7 and cable conductor respectively have two, one end with control component 1 connects, and the other end uses a transmission line 7 and a cable conductor to divide into two sets ofly for a set of, a set ofly with camera 8 connects, another set ofly with laser scanner 9 connects, and the effect of transmission line is mainly with the data transmission to the control component 1 that camera 8 and laser scanner 9 gathered, and the cable conductor then is the control signal who is used for transmitting camera 8 and laser scanner 9 can supply power for two kinds of equipment simultaneously.
The control component 1 comprises a control rod 5 and a display 6, the control rod 5 is connected with the control component through a data line to embody the operation of the control component, and an operator controls the movement of the mechanical arm and the detection component through operating the control rod, so that the operation target and the operation purpose are more definite. The display 6 is connected with the transmission line 7 and used for receiving and visualizing the data collected by the camera 8 and the laser scanner 9, so that ground operators can receive goaf condition information in real time.
In some embodiments of the utility model, the camera 8 is a camera with adjustable lens angle, and the lens can be adjusted to enable the camera 8 to have a wider viewing angle, so that the acquired image data are more detailed, and meanwhile, ground personnel can conveniently monitor the goaf comprehensively; the laser scanner 9 is a three-dimensional laser scanner, the three-dimensional laser scanner can obtain the spatial data of the goaf in detail, and the spatial data obtained by scanning and the image data obtained by shooting can be subjected to modeling processing of the goaf, so that the accuracy of data acquisition is improved.
In some embodiments, the detection member 3 further includes a detection pan/tilt 10, the detection pan/tilt 10 is fixed at the end of the telescopic arm 11, the camera 8 and the laser scanner 9 are fixed on the detection pan/tilt 10 through a connecting bolt, the detection pan/tilt 10 enlarges the arrangeable area of the camera 8 and the laser scanner 9, avoids the problem that some visual angles of the lens are blocked due to the fact that the device is too close, and can fix the camera 8 and the laser scanner 9 at the same time, thereby increasing the stability of the camera 8 and the laser scanner 9.
In some embodiments with the detection pan/tilt 10, the detection pan/tilt 10 may be a flat plate with a rectangular structure, the laser scanner 9 is fixed at the center of the detection pan/tilt 10, the two cameras 8 are respectively located at two ends of the detection pan/tilt 10, the two cameras 8 may increase the collection angle of image data, reduce the occurrence of detection dead angles, and use a synchronous positioning and mapping technique to combine image information and spatial information for modeling, thereby improving the accuracy of collecting goaf information.
In some embodiments with the detection pan/tilt 10, the detection pan/tilt 10 may be a square or cross-shaped flat plate, the laser scanner 9 is fixed at the center of the detection pan/tilt 10, the four cameras 8 are respectively located at four corners of the detection pan/tilt 10, the four cameras 8 can reduce the shooting dead angle to the maximum, and by using the synchronous positioning and map building technology, the image data provides the environmental information, the spatial data provides the distance and the environmental characteristics, and the accuracy of the collected data is improved.
In some embodiments of the present invention, the transmission member 2 is located in a metal pipe of the telescopic arm 11, the transmission member 2 is mainly composed of cables, and the transmission member 2 is easily damaged due to the fragility of the cables and the complex environment of the gob and possible collapse, so that the transmission member 2 needs to be protected, and placing the transmission member 2 in the telescopic arm 11 can prevent the gob rock from being scratched, thereby ensuring the service life of the transmission member 2.
In some embodiments of the present invention, the mechanical arm 4 further includes a strip lamp 14, the strip lamp 14 is fixed on the outer side of the telescopic arm 11, the strip lamp 14 is used to provide a light source, since the underground goaf is dark, the information collected by the camera 8 is not easy to be viewed by ground personnel, the information collection area needs to be illuminated, and the strip lamp 14 can move along with the mechanical arm 4 to continuously provide light.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (10)
1. The utility model provides an underground goaf three-dimensional point cloud data acquisition device which characterized in that, includes control component (1), transmission component (2), surveys component (3) and arm (4), wherein:
the control component (1) is connected with the detection component (3) and the mechanical arm (4) through the transmission component (2), and a control assembly of the detection component (3) and the mechanical arm (4) is arranged in the control component (1);
the detection member (3) comprises a camera (8) and a laser scanner (9), both the camera (8) and the laser scanner (9) being connected to the transport member (2);
the mechanical arm (4) comprises a telescopic arm (11), a fixing component (12), a motor (15), a connecting belt (16) and a fixing block (17), the telescopic arm (11) is formed by sleeving equal-length metal pipes, the starting end of the telescopic arm (11) is connected with the fixing component (12), the tail end of the telescopic arm is connected with the detection component (3), and the fixing component (12) is connected with the ground of a device layout area through a fixing bolt; the fixed block (17) is used for fixing the tail end of the connecting belt (16) in the metal pipe at the tail section of the telescopic arm (11), and the starting end of the connecting belt (16) is wound and fixed on a rotor of the motor (15).
2. An underground goaf three-dimensional point cloud data acquisition device according to claim 1, characterized in that the control means (1) comprises a joystick (5), the joystick (5) being connected to the control assembly by a data line.
3. The underground gob three-dimensional point cloud data collection device according to claim 1, wherein the transmission means (2) comprises two transmission lines (7) and two cables, one of the two transmission lines (7) and two cables are connected to the control means (1), the other of the two transmission lines is divided into two groups by one transmission line (7) and one cable, one group is connected to the camera (8), and the other group is connected to the laser scanner (9).
4. A three-dimensional point cloud data collection device of underground goaf according to claim 3, characterized in that the control means (1) further comprises a display (6), the display (6) being connected with the transmission line (7).
5. A three-dimensional point cloud data collection device of underground goaf according to claim 1, characterized in that the camera (8) is a camera with adjustable lens angle and the laser scanner (9) is a three-dimensional laser scanner.
6. An underground goaf three-dimensional point cloud data acquisition device according to claim 1, characterized in that the detection member (3) further comprises a detection pan-tilt (10), the detection pan-tilt (10) is fixed at the end of the telescopic arm (11), and the camera (8) and the laser scanner (9) are fixed on the detection pan-tilt (10) through connecting bolts.
7. The three-dimensional point cloud data collection device of underground goaf according to claim 6, characterized in that the detection pan head (10) is a flat plate with a rectangular structure, the laser scanner (9) is fixed at the center of the detection pan head (10), and two cameras (8) are respectively arranged at two ends of the detection pan head (10).
8. An underground goaf three-dimensional point cloud data acquisition device according to claim 1, characterized in that the transmission means (2) are located inside the metal tube of the telescopic arm (11).
9. The underground goaf three-dimensional point cloud data acquisition device according to claim 1, wherein the mechanical arm (4) further comprises a rotating assembly (13), the rotating assembly (13) is arranged on the telescopic arm (11), the rotating assembly (13) is connected with the control member (1) through the transmission member (2), a motor and a gearbox are arranged in the rotating assembly (13), the input end of the gearbox is connected with a rotor of the motor, and the output end of the gearbox is connected with a shell of the rotating assembly (13).
10. An underground goaf three-dimensional point cloud data acquisition device according to claim 1, characterized in that the mechanical arm (4) further comprises a strip lamp (14), and the strip lamp (14) is fixed on the outer side of the telescopic arm (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123376832.8U CN216673128U (en) | 2021-12-30 | 2021-12-30 | Underground goaf three-dimensional point cloud data acquisition device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123376832.8U CN216673128U (en) | 2021-12-30 | 2021-12-30 | Underground goaf three-dimensional point cloud data acquisition device |
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| Publication Number | Publication Date |
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| CN216673128U true CN216673128U (en) | 2022-06-03 |
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| CN202123376832.8U Active CN216673128U (en) | 2021-12-30 | 2021-12-30 | Underground goaf three-dimensional point cloud data acquisition device |
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2021
- 2021-12-30 CN CN202123376832.8U patent/CN216673128U/en active Active
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