Research And Implementation Of Underground Mine 3D Scene Laser Scanning System

The coal resources of our country decline year by year, and meanwhile a waste of resources that the backwardness of mining technology leads to is increasingly serious; Therefore, more and more attentions are paid to the research of intelligentized and efficient coal mining technology. In view of shortage of coal resources, lack of mining efficiency and low degree of mining automation and industrialization, this thesis will introduce 3D(three-dimension) laser scanning and measurement technology into the intelligentized mining technology research. Under the analysis of the system scanning and measurement principle and the acquisition, processing and transmission of mining field spatial information, the thesis designs and realizes a 3D laser scanning system for the underground mine scene scanning and detection, which provides integrated and reliable stope environmental information for the realization of the intelligentized mining.The system equipped with a high-speed laser ranging sensor and two high-precision angle encoders that are driven by two stepping motors, forms a three-dimension scanning structure. In consideration of real-time performance and application prospect of the system, the thesis proposes a kind of data acquisition and control system based on the ARM Cortex-M4 micro control unit, and transplants a small open source protocol stack called Lw IP(Light weight TCP/IP) to it, which allows data and command exchange with the host computer software. The host software written with the aid of open source application framework Qt communicates with the scanning device through standard network protocols, and implements a series of functions such as data and command transmission, point cloud display, point cloud preprocessing and data storage, etc.Scanning system in processing of obtaining spatial point cloud, will generates a large number of random noises, because of the sensor measurement errors and the other factors such as electromagnetic interference. In order to obtain high-quality point cloud, this thesis thoroughly studies the point cloud pretreatment technology such as denoising, surface smooth and simplification, and proposes some efficient preprocessing algorithms, which gain good experiment results. In addition, aiming at reducing the inherent measurement errors of the system, some experiment methods of system parameter correction and calibration are put forward on the basis of the analysis of error sources, which improve the measurement precision of the system from the aspect of algorithm.The 3D laser scanning system that the thesis studies and realizes can quickly and accurately obtain the 3D scene visualization model of underground mine. The advantages of small volume, high sampling rate, low costs and convenient networking connectivity etc., make the system have a broad application prospect and research value.