Coal mine roadway deformation measurement system based on line scanning principle
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摘要: 针对采用三维激光扫描技术测量煤矿巷道变形存在有效扫描距离受限、获取的点云密度低、细节缺失严重、测量精度和效率低等问题，提出了一种基于线扫描原理的煤矿巷道变形测量系统。该系统通过巷道测量机器人的测量相机拍摄线扫描激光器投射出的光平面在巷道表面的光条图像；对光条图像使用线结构光光条中心提取技术，获取光条中心坐标，并将光条中心坐标代入通过光平面标定技术拟合的光平面方程，求解出测量相机坐标系下巷道表面的光条图像点云数据；由旋转电动机带动线扫描激光器和测量相机同步转动，获取巷道全部点云数据；采用多组追踪相机拍摄机器人上的靶标图像，实现机器人位姿连续不间断地追踪与测量；结合机器人位姿测量结果对巷道全部点云数据进行拼接，重构煤矿巷道点云；利用点云切片对煤矿巷道点云进行处理，实现煤矿巷道变形快速测量。实验结果表明，该系统测量误差小于7 mm，具有操作简单、灵活性高、测量速度快、测量范围广及测量精度高等特点。Abstract: When 3D laser scanning technology is used in measuring coal mine roadway deformation, there are problems of limited effective scanning distance, low density of acquired point cloud, serious lack of details, low measurement accuracy and low efficiency. In order to solve these problems, a coal mine roadway deformation measurement system based on line scanning principle is proposed. The system shoots a light strip image of a light plane projected by a line scanning laser on the roadway's surface through a measurement robot's measurement camera. The line structured light strip center extraction technology is used for light strip images to obtain the light strip center coordinates. The light strip center coordinates are substituted into the light plane equation fitted by the light plane calibration technology. The light strip image point cloud data of the roadway surface under the measurement camera coordinate system are solved. The rotary motor drives the line scanning laser and the measurement camera to rotate synchronously to obtain all the point cloud data of the roadway. The multiple groups of tracking cameras are used to capture the target image on the robot, so as to realize the continuous tracking and measurement of the robot's pose. Combined with the robot pose measurement results, all the point cloud data of the roadway are spliced to reconstruct the point cloud of the coal mine roadway. The point cloud slice is used to process the point cloud of the coal mine roadway to realize the rapid measurement of coal mine roadway deformation. The experimental results show that the measurement error of the system is less than 7 mm. The system has the characteristics of simple operation, high flexibility, fast measurement speed, wide measurement range and high measurement precision.
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图 1 基于线扫描原理的煤矿巷道变形测量系统组成
Figure 1. Composition of coal mine roadway deformation measurement system based on line scanning principle
图 5 不同变形量下模拟巷道点云切片
Figure 5. Simulated roadway point cloud slices under different deformations
表 1 测量相机参数标定结果
Table 1. Calibration results of measurement camera parameters
参数 标定结果 测量相机X轴方向焦距长度/mm 747.924 697 190 578 5 测量相机Y轴方向焦距长度/mm 736.549 011 060 198 0 图像主点像素坐标/pixel （691.827 974 297 265 9，
371.736 751 442 043 2）镜头径向畸变系数 (0.086 71，0.965 99，1.622 98) 镜头切向畸变系数 (0.009 27，0.006 03) 
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表 2 模拟巷道变形测量结果
Table 2. Simulated roadway deformation measurement results
mm 巷道变形前实际值 巷道变形后实际值 巷道变形前测量值 巷道变形后测量值 巷道变形实际值 巷道变形测量值 测量误差 1 800.000 1 780.000 1 837.462 1 810.521 20.000 26.941 6.941 1 780.000 1 750.000 1 810.521 1 773.585 30.000 36.936 6.936 1 750.000 1 710.000 1 773.585 1 726.704 40.000 46.881 6.881 1 710.000 1 650.000 1 726.704 1 660.085 60.000 66.619 6.619 1 650.000 1 570.000 1 660.085 1 574.083 80.000 86.002 6.002
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