首页|单线激光雷达与测距仪耦合的移动式仓储存量盘点装备研发与应用

单线激光雷达与测距仪耦合的移动式仓储存量盘点装备研发与应用

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提升矿山信息化测绘水平是建设智能矿山的重要基础.选厂是矿产管理的主要场所,及时、精准掌握选厂的仓储存量对于矿山生产规划具有重要意义.然而,受限于作业环境和人员不可达等问题,传统地面测量方法难以有效采集仓储矿堆的完备点位信息,导致盘点结果精度差、效率低.为此,将垂向扫描的单线激光雷达与水平测距仪进行耦合,自主研发了一套单线激光雷达与测距仪耦合的移动式仓储存量盘点装备.该装备具备三维点云采集、数字表面模型构建、矿堆方量核算一体化在线处理功能,并可根据实际需求灵活拓展硬件集成方式,同时支持开发可视化等功能.以紫金山金铜矿选厂为研究区,进行了铜、硫精矿存量盘点试验,结果表明:所研发的装备可以实现选厂矿堆方量在线盘点,其重复盘点结果的一致性优于 99%,与地磅称重盘点结果的比对精度优于 99%,扫描点云质量和数据处理效率优于GEO-SLAM等进口移动式三维扫描设备.研发成果可拓展应用到露天采场剥离量验收、露天采场爆破程度分析、矿车载运量无人值守在线盘点等矿山信息化测绘方面,对于实现"减人增效"目标,助力智能矿山建设具有重要意义.
Development and Application of a Sliding Equipment System Based on Single-pulse Scanner and Rangefinder for Pile Inventory
Enhancing the level of informationization in mine surveying is the critical foundation for intelligent mining.The plant storage is the important place for managing the production of minerals.As a result,a timely and accurate pile inventory within the plant storage is crucial for the planning of mineral production.However,due to the intricate operational conditions and restricted accessibility to workers,the traditional surveying techniques have challenges in acquiring comprehensive geome-try of the pile surface.Consequently,this leads to inadequate accuracy and low efficiency in conducting pile inventories.In or-der to address the aforementioned issue,a novel sliding equipment system is proposed for on-line pile inventory.The developed equipment combines the vertical coordinates obtained through single-pulse scanner with the horizontal coordinates acquired by a rangefinder.This equipment enables integrated online processing of 3D point cloud acquisition,digital surface model con-struction,and pile volume calculation,with adaptability to expand hardware integration methods according to specific require-ments.Additionally,it supports the development of functionalities such as visualization.Experiments were undertaken at the Zi-jinshan Gold and Copper Mine concentrator to analyze the effectiveness of the proposed equipment system for pile inventory.The primary emphasis of these experiments was to evaluate the pile volume measurements.The experimental results indicate that the developed equipment has the capability to perform online pile inventory with a repeatability of above 99%.Further-more,when compared to on-site weighting measurement,the developed equipment exhibits an accuracy that exceeds 99%.The scanned point cloud exhibits superior quality and the data processing efficiency surpasses that of commercial scanners,such as GEO-SLAM.In forthcoming endeavors,the developed equipment will offer technical assistance in various domains,including volume estimation of open-pitm mine,construction of three-dimensional geometries,quantification of the exposed mining heap,and real-time loading inventory of vehicles.These functionalities hold immense importance in the establishment of intelligent mining operations.

single-pulse scannerlaser rangefindersensor integrationintelligent minepile inventorypoint cloud pro-cessing

许志华、彭远航、林佳轩、逯行政、夏林、林荣传、梁焰斌

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中国矿业大学(北京)地球科学与测绘工程学院,北京 100083

煤炭资源与安全开采国家重点实验室,北京 100083

紫金矿业集团股份有限公司,福建 上杭 364200

单线激光雷达 激光测距仪 传感器集成 智能矿山 仓储存量盘点 点云处理

国家自然科学基金中央高校基本科研业务费专项煤炭资源与安全开采国家重点实验室开放基金

423714482023ZKPYDC11SKLCRSM19KFA01

2024

金属矿山
中钢集团马鞍山矿山研究院 中国金属学会

金属矿山

CSTPCD北大核心
影响因子:0.935
ISSN:1001-1250
年,卷(期):2024.(5)
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