本文選題：智能開采 + 三維激光掃描��； 參考：《華中科技大學(xué)》2015年碩士論文

【摘要】：我國煤炭資源儲量逐年下降,開采技術(shù)落后導(dǎo)致的資源浪費(fèi)現(xiàn)象卻日益嚴(yán)重,因此,煤炭智能化高效開采技術(shù)的研究越來越受到重視。針對煤炭資源短缺、開采效率不高以及自動化智能化程度較低等問題,本文將三維激光掃描測量技術(shù)引入到煤炭智能開采中,在分析了系統(tǒng)掃描測量原理與采掘現(xiàn)場空間信息的采集、處理和傳輸?shù)拳h(huán)節(jié)的基礎(chǔ)上,研發(fā)出一套應(yīng)用于煤礦井下場景測量的三維激光掃描系統(tǒng),為實(shí)現(xiàn)智能開采提供了完善可靠的采場環(huán)境信息支持。系統(tǒng)采用高速激光測距傳感器AR2500,配合高精度角度編碼器,在步進(jìn)電機(jī)驅(qū)動下構(gòu)成三維激光掃描結(jié)構(gòu)�？紤]到系統(tǒng)的實(shí)時(shí)性要求和應(yīng)用前景,本文設(shè)計(jì)了一種基于ARM Cortex-M4微控制器的嵌入式點(diǎn)云采集控制系統(tǒng),并移植了小型開源協(xié)議棧Lw IP(Light Weight IP)來實(shí)現(xiàn)與上位機(jī)軟件的數(shù)據(jù)傳輸和指令傳送。上位機(jī)軟件借助開源應(yīng)用框架Qt編寫,通過標(biāo)準(zhǔn)網(wǎng)絡(luò)協(xié)議與掃描裝置通信,實(shí)現(xiàn)點(diǎn)云接收、控制命令發(fā)送、點(diǎn)云顯示、點(diǎn)云預(yù)處理和數(shù)據(jù)存儲等功能。系統(tǒng)在獲取點(diǎn)云的過程中,由于器件測量誤差和環(huán)境干擾等因素,生成的點(diǎn)云疊加了大量隨機(jī)噪聲。為了獲得高質(zhì)量的點(diǎn)云,深入研究了點(diǎn)云的降噪、平滑和簡化等預(yù)處理技術(shù),提出了高效的預(yù)處理算法,取得了理想的效果。此外,針對系統(tǒng)固有的測量誤差,在分析了誤差來源的基礎(chǔ)上,提出了系統(tǒng)參數(shù)的修正與校準(zhǔn)實(shí)驗(yàn)思路,從軟件算法層面提高了系統(tǒng)的測量精度。通過本文設(shè)計(jì)實(shí)現(xiàn)的三維激光掃描系統(tǒng),可以快速準(zhǔn)確地獲取礦井下的三維場景可視化模型。體積小、采樣速率高、成本低廉和方便聯(lián)網(wǎng)等特點(diǎn),使得該系統(tǒng)具有廣闊的應(yīng)用前景和研究價(jià)值。
[Abstract]:The reserves of coal resources in China are decreasing year by year, but the phenomenon of resource waste caused by backward mining technology is becoming more and more serious. Therefore, more and more attention has been paid to the research of intelligent and efficient coal mining technology. In view of the shortage of coal resources, the low efficiency of mining and the low degree of automation and intelligence, this paper introduces the 3D laser scanning measurement technology into the intelligent mining of coal. Based on the analysis of the principle of system scanning measurement and the acquisition, processing and transmission of spatial information in mining field, a 3D laser scanning system is developed for underground coal mine scene measurement. It provides perfect and reliable environmental information support for intelligent mining. The system uses high speed laser ranging sensor AR2500 and high precision angle encoder to construct a three dimensional laser scanning structure driven by step motor. Considering the real-time requirement and application prospect of the system, an embedded point cloud acquisition and control system based on ARM Cortex-M4 microcontroller is designed in this paper. And the small open source protocol stack LW IP(Light Weight is transplanted to realize the data transmission and instruction transfer with the host computer software. The upper computer software is written with the open source application framework QT and communicates with the scanner through standard network protocol to realize the functions of point cloud receiving, control command sending, point cloud display, point cloud preprocessing and data storage. In the process of obtaining point cloud, the generated point cloud is superimposed with a large amount of random noise due to the measurement error of the device and the environmental interference. In order to obtain high quality point cloud, the preprocessing techniques such as noise reduction, smoothing and simplification of point cloud are deeply studied, and an efficient preprocessing algorithm is proposed, and the ideal effect is obtained. In addition, according to the inherent measurement error of the system, based on the analysis of the error source, the experimental idea of system parameter correction and calibration is put forward, which improves the measurement accuracy of the system from the level of software algorithm. The 3D laser scanning system designed in this paper can quickly and accurately obtain the 3D scene visualization model under the mine. Because of its small size, high sampling rate, low cost and convenient networking, the system has broad application prospect and research value.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TD82;TN249

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