CN102410834B - Three-dimensional laser scanning tailings dam dynamic monitoring system device - Google Patents

Abstract

The invention discloses a dynamic monitoring system device for a tailing dam body by three-dimensional laser scanning. The dynamic monitoring system device mainly comprises a mechanical unit, a laser data acquisition unit, a control driving and feedback unit, and a communication and upper computer unit. In the device, the laser data acquisition unit is used for acquiring scene polar radius information of the surface of the tailing dam body; the control driving and feedback unit is used for driving the laser data acquisition unit to rotate in the horizontal dimension and vertical dimension, to scan the large scene on the surface of the tailing dam body at a constant speed and to acquire angle information in the horizontal dimension and the vertical dimension in real time; the communication and upper computer unit is used for transmitting the acquired distance information and the acquired angle information to an upper computer through a high-speed data acquisition card; and software of the upper computer is used for processing the scene polar radius and the rotation angle information in the horizontal dimension and the vertical dimension to recover a real three-dimensional image of the scene, building a tailing dam body standard point cloud model in an ideal state, and storing the model into a database as an intelligent monitoring comparison template. During dynamic scanning of the device, qualitative and quantitative estimation for unexpected disasters is realized by using a dynamic monitoring algorithm through comparison with the template; operators and managers can immediately start corresponding emergency plans to avoid further expansion of the disasters.

Description

Three-dimensional laser scanning tailings dam dynamic monitoring system device

technical field

The invention relates to a non-contact measurement technology, in particular to a non-contact dynamic on-line monitoring system device for three-dimensional laser scanning tailings dam body.

Background technique

In the "Twelfth Five-Year Plan" development plan for national safety production, there are clear requirements for the installation of online monitoring system devices for third-class and above tailings ponds within a limited period. The 3D laser scanning tailings dam dynamic monitoring system device is a typical prototype of the tailings dam on-line monitoring system, which meets the needs of the era for safe and steady development, and is of great significance to the protection of the country and people's life and property safety.

Foreign countries have formed a monitoring and early warning system that includes functions such as on-site real-time data collection, comprehensive analysis of data, and safety alarms for tailings pond safety operation monitoring. Domestic tailings dam monitoring mainly includes manual measurement, optical fiber monitoring, and total station monitoring. Manually using traditional instruments to measure on site is easily affected by the environment and site conditions, and the acquisition accuracy is not high and information lags behind. At the same time, there is also the problem of personal safety of personnel; the use of optical fiber monitoring is complicated to install, interferes with construction, has high cost, is not suitable for long-distance measurement, and has large errors; the use of total stations requires measurement at multiple locations, and the sampling points are sparse and time-consuming. At present, tailings dam monitoring has begun to turn to digital monitoring by means of automation, networking and intelligent information management. There is an urgent need for a high-precision, low-cost and high-efficiency 3D laser scanning tailings dam dynamic monitoring system device to meet National requirements on production safety.

Contents of the invention

The technical problem solved by the present invention is to overcome the shortcomings of the existing online monitoring technology, provide a set of non-contact dynamic online monitoring device for three-dimensional laser scanning tailings dam body, realize non-contact online timing monitoring, fast single scanning speed, and high measurement accuracy High and low cost; the invention effectively meets the national requirements on safe production, and the device is suitable for tailings dam monitoring in different scenarios.

The technical solution of the present invention: a three-dimensional laser scanning tailings dam dynamic monitoring system device, which is characterized in that it includes: a mechanical unit, a laser data acquisition unit, a control drive and feedback unit, a communication and a host computer unit, wherein

The mechanical unit is used to connect the laser data acquisition unit with the horizontal direction motor and the vertical direction motor to realize the horizontal and vertical direction scanning of the laser data acquisition unit; the horizontal direction rotary transformer and the horizontal direction motor are connected between the horizontal direction motor and the horizontal direction rotary transformer The connecting device moves synchronously when the connecting device is fixed, and the vertical rotary transformer and the vertical motor move synchronously when the vertical motor and the vertical rotary transformer connecting device are fixed.

The laser data acquisition unit can obtain the extreme radius information of the ground object point scene in real time. Driven by the horizontal direction motor and the vertical direction motor, it scans the tailings dam body and transmits the obtained data information to the upper position through the high-speed data acquisition card. machine.

Control the driving and feedback unit, the horizontal driver and the vertical driver respectively control the horizontal motor and the vertical motor, drive the laser data acquisition unit to realize uniform scanning in the horizontal and vertical dimensions, through the horizontal rotary transformer and the vertical rotation The transformer obtains the angle information of each scanning position in real time, and transmits it to the horizontal driver and the vertical driver respectively under the integration of the horizontal resolver-digital converter and the vertical resolver-digital converter, and transmits it through the high-speed data acquisition card to the host computer.

The communication and upper computer unit, the high-speed data acquisition card transmits the scene polar radius information obtained by the laser data acquisition unit, the angle information obtained by the horizontal rotary transformer and the vertical rotary transformer to the upper computer in real time. The upper computer performs systematic correction on the acquired data, normalizes the data of each coordinate system to the reference coordinate system of the 3D laser scanning tailings dam dynamic monitoring system device, and displays the results in the form of a 3D point cloud; The three-dimensional coordinates of the marker points use the intelligent monitoring algorithm to judge whether they are consistent with the results of the standard library; if they are not consistent, the corresponding emergency plan is activated.

The laser data acquisition unit is a single-point laser sensor, the sampling range under the natural surface is not less than 300m, the sampling frequency is not less than 2000, the measurement accuracy is not less than 60mm, and it has RS-232/422/485 interface based on pulse reflection time difference method laser sensor. A higher sampling frequency can reduce the time of a single laser scan. The higher the measurement accuracy of the laser sensor, the higher the scanning accuracy of the 3D laser scanning tailings dam dynamic monitoring system device, which is closer to the true 3D image of the scene, and the control interface Simple.

The power of the horizontal direction motor is not less than 172.8W, the maximum no-load speed is 630r/min, the peak stall torque is not less than 2.2N.m, the current is not less than 3.6A, and the mass is less than 1.5Kg. The torque motor is usually used in stall or low speed Under normal circumstances, it has the characteristics of large stall torque, low no-load speed, direct drive of load without any deceleration device, strong overload capacity, control of output torque and speed by adjusting terminal voltage, and small volume.

The power of the vertical direction motor is not less than 211.2w, the maximum no-load speed is 460r/min, the peak stall torque is not less than 4.4N.m, the current is not less than 4.4A, and the mass is less than 2.4Kg. The torque motor is usually used in stall or In the case of low speed, it has the characteristics of large stall torque, low no-load speed, direct drive of load without any deceleration device, strong overload capacity, control of output torque and speed by adjusting terminal voltage, and small volume.

The horizontal resolver has a maximum conversion rate of 0.5±5%, a maximum electrical error of ±10′, is suitable for an environment of -55°C to +155°C, has a mass of less than 0.065Kg, and an angle sensor whose output is a sine-cosine analog signal . It is suitable for high temperature, severe cold, humidity, high vibration and other environments, laying the foundation for high-precision monitoring and wide application.

The vertical rotary transformer has a maximum conversion rate of 0.5±5%, a maximum electrical error of ±10′, is suitable for an environment of -55 to +155°C, has a mass of less than 0.065Kg, and outputs an angle of sine and cosine analog signals sensor. It is suitable for high temperature, severe cold, humidity, high vibration and other environments, laying the foundation for high-precision monitoring and wide application.

The resolution of the horizontal resolver-to-digital converter is not less than 14 bits, and the number of pulses is not less than 16384. It converts the sine and cosine analog signals obtained by the horizontal resolver into A, B, and Z phase pulse signals, which can be used for- Angle decoder for 40～+85℃ environment. The output signal is simple, the sampling resolution is high, and the precise control of the motor in the horizontal direction can be realized.

The resolution of the vertical rotary transformer-digital converter is not less than 14 bits, and the number of pulses is not less than 16384. The sin-cosine analog signals obtained by the vertical rotary transformer are converted into A, B, and Z-phase pulse signals, which can be used Angle decoder for -40～+85℃ environment. The output signal is simple, the sampling resolution is high, and the precise control of the vertical motor can be realized.

The horizontal driver is a DC motor driver with a rated voltage of +80V, a rated current of 8A, an input angle signal of A, B, and Z phase pulse signals, and an R232 interface. Realize the closed-loop control of the horizontal torque motor, and transmit the real-time acquired horizontal angle information to the host computer, laying the foundation for the realization of high-precision monitoring.

The vertical driver is a DC motor driver with a rated voltage of +80V, a rated current of 8A, an input angle signal of A, B, and Z phase pulse signals, and an R232 interface. Realize the closed-loop control of the vertical torque motor, and transmit the real-time acquired vertical angle information to the host computer, laying the foundation for the realization of high-precision monitoring.

The high-speed data acquisition card has a power supply voltage of 12-48V, an output of an RJ45 network card interface, supports 10M and 100M adaptive network connection speeds, and has at least four RS-232/422/485 interfaces for data transmission The device lays the foundation for high-speed and accurate data transmission.

The upper computer in the communication and upper computer unit is an industrial computer with at least a network port, a system memory greater than 2GB, and a WindowsXP operating system, which has high reliability.

The implementation process of the control software in the communication and upper computer unit is as follows:

1) Laser data acquisition unit and control drive and feedback unit initialization: After the system is powered on, the horizontal direction motor and vertical direction motor move to the dynamic monitoring of the 3D laser scanning tailings dam according to the settings of the horizontal direction driver and the vertical direction driver respectively The reference position of the system device, the high-speed data acquisition card starts successfully;

2) Communication and host computer unit initialization: set the serial port related parameters of the laser data acquisition unit, connect the laser data acquisition unit, set the laser pulse emission frequency; set the functional parameters of the control drive and feedback unit: control serial port number, scanning range, scanning Speed, according to the requirements of the project, regularly set the number of scans and scan time intervals of the day, and set the position parameters of each scan mark point;

3) Start the online monitoring button, and the laser data acquisition unit and the control drive and feedback unit will transmit the acquired scene polar radius information, horizontal and vertical angle information to the host computer through the high-speed data acquisition card for further processing in real time;

4) Solve the data;

The upper computer uses the coordinate normalization algorithm to process the collected data information, that is, the coordinate system of the laser data acquisition unit, the coordinate system of the horizontal resolver and the coordinate system of the vertical resolver are normalized to the three-dimensional laser scanning tailings dam dynamic monitoring system device in the base coordinate system. The specific process is shown in Figure 2. Establish the origin coordinate system O _L -X _L Y _L Z _L of the laser data acquisition unit, the system reference coordinate system O _B -X _B Y _B Z _B and three transitional coordinate systems O _M -X _M Y _M Z _M , O _H -X _H Y _H Z _H and O _V -X _V Y _V Z _V , and each coordinate system is a Cartesian right-hand coordinate system. According to the relevant conversion relationship of the coordinate system, the three-dimensional coordinate general formula of the scene space point in the reference coordinate system O _B -X _B Y _B Z _B of the 3D laser scanning tailings dam dynamic monitoring system device is solved:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;\&Delta;z</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;\&Delta;x</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;\&Delta;z</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;\&Delta;x</span>}\end{array}\right.$

in,

α and β are respectively the acquisition information of the vertical direction rotary transformer (14) and the horizontal direction rotary transformer (8);

r is the polar radius information of the scene;

Δx, Δz, and Δx' are the offset values between the coordinate systems along the relevant coordinate axes. After the overall assembly of the system is completed, Δx and Δz are fixed values, which can be calculated through mechanical design dimensions. Δx' is the laser data acquisition unit (2) Measure the offset value between the origin and the horizontal rotation axis;

The above-mentioned data processed by the coordinate normalization algorithm are streamlined and de-noised and displayed in real time, and the scanning results are stored in Excel in the form of three-dimensional coordinates in real time, and the three-dimensional coordinates of each marker point are stored in Excel; , the scanning parameters are different depending on the distance of the application area. When the device is used for the first time, the scanning parameters are accurately set, stored in the storage database of the host computer, and the measured 3D point cloud database accurate model and the 3D marker point The coordinate information is stored in the intelligent comparison template database;

5) Calculate whether the 3D point cloud model and the 3D information of the marker points are consistent with the results of the standard library, and if not, start the corresponding emergency plan;

6) Judging whether the scanning of the tailings dam is over: if the scanning is over, the device stops working, and according to the setting of the 3D laser scanning tailings dam dynamic monitoring system device about the timing scanning, start again and enter the third step to continue monitoring.

The advantage of the present invention compared with prior art is:

1) The device of the present invention uses the host computer software to uniformly control each unit, adopts the laser data acquisition unit to scan the tailings dam body in real time, and the host computer software performs processing and result display, which is non-contact detection, so the detection is convenient and the degree of automation is high. It can work for a long time, and there is no error caused by personnel fatigue;

2) The device of the present invention realizes non-contact online timing monitoring, with fast single scanning speed, high measurement accuracy and low cost;

3) The device of the present invention effectively meets the national requirements on production safety, and the device is suitable for tailings dam monitoring in different scenarios.

Description of drawings

Fig. 1 is the system structural diagram of the dynamic monitoring system device of three-dimensional laser scanning tailings dam body of the present invention;

Fig. 2 is the system calibration coordinate system of the dynamic monitoring system device of the three-dimensional laser scanning tailings dam body of the present invention;

Fig. 3 is the work flowchart of the dynamic monitoring system device of the three-dimensional laser scanning tailings dam body of the present invention;

Fig. 4 is the appearance diagram of the actual tailings dam body scene;

Fig. 5 is a three-dimensional point cloud model diagram processed by the present invention, wherein the gray points represent each marker point.

Among them, Figure 1, 1. Mechanical unit; 2. Laser data acquisition unit; 3. Control drive and feedback unit; 4. Communication and host computer unit; 5. Laser fixing device; 6. Horizontal motor; 7. Laser and horizontal Direction motor connection device; 8. Horizontal direction rotary transformer; 9. Horizontal direction motor and horizontal direction rotary transformer connection device; 10. Horizontal direction rotary transformer-digital converter; 11. Horizontal direction driver; 12. Vertical direction motor; 13 1. Horizontal direction motor and vertical direction motor connection device; 14. Vertical direction rotary transformer; 15. Vertical direction motor and vertical direction rotary transformer connection device; 16. Vertical direction rotary transformer-digital converter; 17. Vertical direction Direct drive; 18. High-speed data acquisition card; 19. Host computer.

Detailed ways

As shown in Figure 1, the dynamic monitoring system device of the three-dimensional laser scanning tailings dam body of the present invention includes: a mechanical unit 1, a laser data acquisition unit 2, a control drive and feedback unit 3, a communication and a host computer unit 4, wherein

The mechanical unit 1 is used to connect the laser data acquisition unit 2 with the horizontal direction motor 6 and the vertical direction motor 12 to realize the horizontal and vertical direction scanning of the laser data acquisition unit 2; The direction motor moves synchronously with the fixation of the horizontal resolver connection device 9 , and the vertical resolver 14 and the vertical motor 12 move synchronously with the fixation of the vertical motor and the vertical resolver connection device 15 .

The laser data acquisition unit 2 can obtain the polar radius information of the ground object point scene in real time. Driven by the horizontal direction motor 6 and the vertical direction motor 12, the tailings dam body is scanned in a panoramic manner, and the obtained data information is passed through the high-speed data acquisition card 18 is passed to the upper computer 19;

Control the drive and feedback unit 3, the horizontal driver 11 and the vertical driver 17 respectively control the horizontal motor 6 and the vertical motor 12, drive the laser data acquisition unit 2 to realize uniform scanning in the horizontal and vertical dimensions, and rotate through the horizontal direction The transformer 8 and the vertical direction rotary transformer 14 obtain the angle information of each scanning position in real time, and transmit it to the horizontal direction driver 11 and the horizontal direction driver 11 under the integration of the horizontal direction rotary transformer-digital converter 10 and vertical direction rotary transformer-digital converter 16 respectively The vertical driver 17 is transmitted to the upper computer 19 through the high-speed data acquisition card 18.

The communication and upper computer unit 4 and the high-speed data acquisition card 18 transmit the polar radius information of the scene obtained by the laser data acquisition unit 2, the angle information obtained by the horizontal rotary transformer 8 and the vertical rotary transformer 14 to the upper computer 19 in real time. The upper computer 19 systematically corrects the acquired data, normalizes the data of each coordinate system to the reference coordinate system of the three-dimensional laser scanning tailings dam dynamic monitoring system device, and displays the result in the form of a three-dimensional point cloud; The three-dimensional coordinates of each marker point use the intelligent monitoring algorithm to judge whether it is consistent with the result of the standard library; if not, start the corresponding emergency plan.

Assemble the relevant components of each unit, connect the power supply and signal lines, and first develop the key components of the entire device. For connecting the host computer 19 and the high-speed data acquisition card 18 to install the driver, under the system page of the high-speed data acquisition card 18, carry out according to the requirements of the respective ports of the laser data acquisition unit 2, the horizontal direction motor driver 11 and the vertical direction motor driver 17 Setting, effectively establish the data channel between the upper computer 19 and each sensor. The laser data acquisition unit 2 is developed according to the bottom layer control instructions of the laser data acquisition unit 2, and the upper computer software realizes the parameter setting and data reception of the laser data acquisition unit 2 by sending corresponding command words through the serial port. According to the parameters of the horizontal direction motor 6, the horizontal direction rotary transformer 8, the vertical direction motor 12 and the vertical direction rotary transformer 14, the horizontal direction driver and the vertical direction driver are set, and its PID parameters are adjusted respectively, so that the horizontal direction motor 6 and the vertical direction The direction motor 12 runs steadily, and a corresponding program is set so that the horizontal direction motor 6 and the vertical direction motor 12 return to the reference position of the three-dimensional laser scanning dynamic monitoring system device through some pose transformations while being powered on.

As shown in Figure 3, the workflow of the device of the present invention is specifically as follows:

1) Confirm that the power supply of the components and the signal line are correctly connected, power on the device, control the drive and feedback unit (3) drive the laser data acquisition unit 2 to move to the reference position of the 3D laser scanning tailings dam dynamic monitoring system device, and wait for the communication and the host computer Instructions for Unit 4;

2) Communication and host computer unit 4 initialization: set the serial port related parameters of the laser data acquisition unit 2, connect the laser data acquisition unit 2, set the emission frequency of the laser pulse; set the functional parameters of the control drive and feedback unit 3: control the serial port number, Scanning range, scanning speed, according to the requirements of the project, regularly set the number of scans and the scanning time interval of the day, and set the position parameters of each scanning mark point;

3) Start the online monitoring button, the laser data acquisition unit 2 and the control drive and feedback unit 3 transmit the data information to the host computer 19 through the high-speed data acquisition card 18 for further processing in real time;

4) Solve the data;

During the monitoring process, the upper computer software uses the coordinate normalization algorithm to process the collected data information, that is, the laser data acquisition unit 2 coordinate system, the horizontal resolver 8 coordinate system and the vertical resolver 14 coordinate system are normalized to the three-dimensional laser Scan the tailings dam under the reference coordinate system of the dynamic monitoring system device. After the overall assembly of the system is completed, the centerline of the vertical rotation axis and the centerline of the horizontal rotation axis are located on the same plane, and the mechanical design dimensions are calculated to obtain Δx=0, Δz=113.5mm, the optical center of the laser data acquisition unit 2 and the horizontal rotation The offset value between the axes Δx'=74.5mm. Substituting the three-dimensional coordinate general formula of the scene space point in the reference coordinate system O _B -X _B Y _B Z _B of the 3D laser scanning tailings dam dynamic monitoring system device, we get:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.0745</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.1135</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.0745</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.0745</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.01135</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\end{array}\right.$

in,

α and β are respectively the acquisition information of the vertical direction rotary transformer (14) and the horizontal direction rotary transformer (8);

r is the polar radius information of the scene;

The above-mentioned data processed by the coordinate normalization algorithm are streamlined and de-noised and displayed in real time, and the scanning results are stored in Excel in the form of three-dimensional coordinates in real time, and the three-dimensional coordinates of each marker point are stored in Excel; , the scanning parameters are different depending on the distance of the application area. When the device is used for the first time, the scanning parameters are accurately set, stored in the storage database of the host computer 19, and the measured three-dimensional point cloud database accurate model and the landmark point The three-dimensional coordinate information is stored in the intelligent comparison template database.

5) Calculate whether the 3D point cloud model and the 3D information of the marker points are consistent with the results of the standard library, and if not, start the corresponding emergency plan;

6) Judging whether the scanning of the tailings dam body is over;

If the scanning is over, the device will stop the current work, according to the settings of the host computer software on timing scanning, start again and enter step 3 to continue monitoring.

Claims (9)

1. Three-dimensional laser scanning tailings dam body dynamic monitoring system device, its characterized in that includes: the device comprises a mechanical unit (1), a laser data acquisition unit (2), a control drive and feedback unit (3), and a communication and upper computer unit (4), wherein

The mechanical unit (1) is mainly used for connecting the laser data acquisition unit (2) with the horizontal motor (6) and the vertical motor (12) to realize horizontal and vertical scanning of the laser data acquisition unit (2); respectively fixing a horizontal direction rotary transformer (8), a horizontal direction motor (6), a vertical direction rotary transformer (14) and a vertical direction motor (12) to synchronously move;

the laser data acquisition unit (2) can acquire polar radius information of a scene of a ground feature point in real time, and can be driven by a motor (6) in the horizontal direction and a motor (12) in the vertical direction to perform panoramic scanning on the tailing dam body and transmit the acquired data information to an upper computer (19) through a high data acquisition card (18);

the control driving and feedback unit (3), the horizontal direction driver (11) and the vertical direction driver (17) respectively control the horizontal direction motor (6) and the vertical direction motor (12), drive the laser data acquisition unit (2) to realize the uniform scanning of the horizontal dimension and the vertical dimension, acquire the angle information of each scanning position in real time through the horizontal direction rotary transformer (8) and the vertical direction rotary transformer (14), respectively transmit the angle information to the horizontal direction driver (11) and the vertical direction driver (17) under the integration of the horizontal direction rotary transformer-digital converter (10) and the vertical direction rotary transformer-digital converter (16), and transmit the angle information to the upper computer (19) through the high-speed data acquisition card (18);

the communication and upper computer unit (4), the high-speed data acquisition card (18) transmits scene polar radius information acquired by the laser data acquisition unit (2) and angle information acquired by the horizontal direction rotary transformer (8) and the vertical direction rotary transformer (14) to the upper computer (19) in real time, the upper computer (19) carries out system correction on the acquired data, normalizes the data of each coordinate system to a reference coordinate system of the three-dimensional laser scanning tailing dam body dynamic monitoring system device, and displays the result in a three-dimensional point cloud form; applying an intelligent monitoring algorithm to the three-dimensional coordinates of each mark point to judge whether the three-dimensional coordinates are consistent with the results of the standard library; if not, starting the corresponding emergency plan.

2. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the motor (6) in the horizontal direction is a torque motor with the power of at least 172.8W, the maximum no-load rotating speed of 630r/min, the peak locked-rotor torque of not less than 2.2N.m, the current of not less than 3.6A and the mass of less than 1.5 Kg.

3. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the motor (12) in the vertical direction is a torque motor with the power of at least 211.2W, the maximum no-load rotating speed of 460r/min, the peak locked-rotor torque of not less than 4.4N.m, the current of not less than 4.4A and the mass of not less than 2.4 Kg.

4. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the horizontal direction rotary transformer (8) is an angle sensor which has the maximum conversion rate of 0.5 +/-5 percent and the maximum electrical error of +/-10', is suitable for the environment with the temperature of minus 55 to plus 155 ℃, has the mass of less than 0.065Kg and outputs sine and cosine analog signals.

5. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the vertical direction rotary transformer (14) is an angle sensor which has the maximum conversion rate of 0.5 +/-5 percent and the maximum electrical error of +/-10', is suitable for the environment with the temperature of minus 55 to plus 155 ℃, has the mass of less than 0.065Kg and outputs sine and cosine analog signals.

6. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the horizontal driver (11) is a DC motor driver with rated voltage within +80V, rated current of 8A, input angle signal of A, B, Z phase pulse signal and R232 interface.

7. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the vertical driver (17) is a direct current motor driver with rated voltage within +80V, rated current of 8A, input angle signal of A, B, Z phase pulse signal and R232 interface.

8. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the high-speed data acquisition card (18) is a data transmission device with a power supply voltage of 12-48V, an RJ45 type network card interface and a network connection speed supporting self-adaptation of 10 Mm and 100 Mm, and is provided with four RS-232/422/485 interfaces.

9. The dynamic monitoring system device for the three-dimensional laser scanning tailings dam body according to claim 1, is characterized in that: the upper computer (19) is an industrial personal computer which is at least provided with a network port, has a system memory larger than 2GB and supports a Windows XP operating system.

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