CN-122020749-A - Mining method for dynamic mining of transparent stope by three-dimensional scanning technology

CN122020749ACN 122020749 ACN122020749 ACN 122020749ACN-122020749-A

Abstract

The invention discloses a mining method for realizing dynamic mining of a transparent stope by a three-dimensional scanning technology, which relates to the technical field of underground mining of metal mines and comprises the following steps of S1, constructing a stope design model, S2, distributing and controlling point measurement, S3, fitting area data acquisition, S4, coordinate system unified processing, S5, goaf dynamic monitoring, S6, model coupling comparison, S7, model attribute extraction, S8, analysis parameter setting, S9, three-dimensional visual expression, S10, key data extraction, S11 and mining effect evaluation. According to the invention, the process dynamic monitoring is realized through the periodic three-dimensional scanning, the goaf data acquisition is changed from the traditional post-record to the in-process dynamic monitoring, the data vacuum period in the mining process is effectively filled, and the continuous three-dimensional digital record of the whole mining process is realized.

Inventors

TANG HAODONG
LIU ZIHAN
ZHANG JIUYU
WEI ZHANGNENG
ZHENG GONGGUAN
QIN XINGLANG
CHENG ZHANMING
XIE JINGPENG
HU YAQIAO
Lu bokai
SONG XUELIN
HAN ZEYI

Assignees

安徽铜冠产业技术研究院有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260113

Claims (8)

1. A mining method for dynamically mining a three-dimensional scanning technology transparentization stope is characterized by comprising the following steps: s1, constructing a stope design model, namely, based on a mine blasting design drawing, building an accurate three-dimensional design model with coordinate information by utilizing three-dimensional mining software; S2, arranging and measuring control points, namely reasonably arranging at least 3 control points in a roadway or a rock drilling chamber near a stope, and acquiring absolute coordinates by using high-precision measuring instruments such as a total station and the like; S3, acquiring fitting area data, namely scanning a stable area where a control point is located through an unmanned aerial vehicle system carrying a three-dimensional scanner to acquire point cloud data of the area; s4, coordinate system one-step processing, namely accurately converting the point cloud data of the fitting area from a scanner relative coordinate system to a mine absolute coordinate system by utilizing point cloud processing software according to the absolute coordinates of the control points; S5, goaf dynamic monitoring, namely periodically using the unmanned aerial vehicle scanning system to collect goaf point cloud data in the mining process, and establishing a goaf three-dimensional model with absolute coordinates and each period based on the fitting area converted to the absolute coordinate system as a reference through a registration algorithm; s6, model coupling comparison, namely taking a design model or a goaf model in a certain historical period as a reference object, and carrying out three-dimensional space coupling and superposition on the goaf model in the current period to be analyzed; S7, extracting model attributes, namely extracting geometric attributes and spatial attributes of the reference object and the current model from the coupled model; S8, setting analysis parameters, namely setting a distance threshold value, an overall calculation range and a sample section distance for statistical segmentation according to the spatial distance distribution between the study object and the reference object; S9, three-dimensional visual expression, namely configuring different color schemes for different distance intervals based on a set calculation range and sample section division, generating a three-dimensional legend and a sample section boundary, and realizing three-dimensional transparent display of deviation of the actual form of the goaf relative to a design form or a history form; s10, extracting key data, namely counting the number of point clouds corresponding to each distance interval, the represented overexcavation or underexcavation volume and the space coordinate information of a boundary line in a calculation range; s11, mining effect evaluation, namely carrying out quantitative evaluation on boundary control quality, super-undermining conditions and potential safety risks in the mining process of a stope by combining mine safety mining technical standards and key quantitative data, and providing data support for subsequent production adjustment and safety measure formulation.
2. The method for dynamically mining a transparent stope with three-dimensional scanning technology according to claim 1, wherein in step S1, the design model is built by Dimine three-dimensional mining software, the basic requirement of the building is a blasting design section, and the three-dimensional mining software builds a three-dimensional entity model capable of enabling the design model to be provided with accurate coordinate information.
3. The method for dynamically mining a three-dimensional scanning technology transparent stope according to claim 1, wherein in step S2, the control points are arranged at stable non-collinear and distinct positions in the fitting area, and the stable non-collinear and distinct positions are used for ensuring the accuracy and reliability of coordinate transformation.
4. The mining method of the three-dimensional scanning technology transparentization stope dynamic mining of claim 1, wherein in the steps S3 and S5, the fitting area is an area which is stable in morphology and is not easy to deform in a chamber or a tunnel near the stope, the fitting area is an area which can be connected with the point cloud data of a subsequent goaf, and the fitting area is used as a public reference to realize seamless connection of multi-period scanning data under a unified absolute coordinate system.
5. The method of claim 1, wherein in step S7, the geometric and spatial attributes include the number of point clouds, model size, centroid coordinates, volume and space between models, and the space between models includes the distribution relationship of inclusion and intersection.
6. The method for dynamic mining of a three-dimensional scanning technology transparent stope according to claim 1, wherein in steps S8 and S9, the distance threshold is determined based on a statistical result of a spatial distance between a study object and a reference object, the sample distance is used for dividing a calculation range into a plurality of continuous intervals, and the color scheme is used for realizing visual distinction of different distance intervals.
7. The mining method of the dynamic mining of the three-dimensional scanning technology transparentization stope, which is characterized by comprising a mining system, wherein the mining system comprises a design model unit, a three-dimensional scanning unit, a control point measuring unit, a point cloud processing unit and a visualization and analysis unit, the design model unit is responsible for constructing an initial stope three-dimensional design model based on a stope blasting design drawing, the three-dimensional scanning unit adopts a laser scanning technology to acquire high-precision point cloud data of a fitting area and a goaf, and the high-precision point cloud data is used for acquiring on-site three-dimensional space information.
8. The method for dynamically mining the three-dimensional scanning technology transparent stope, as set forth in claim 7, wherein the control point measuring unit comprises a total station and a GNSS device, the total station and the GNSS device are used for acquiring absolute coordinates of the control points, the acquisition of the absolute coordinates provides accurate space references for point cloud data registration and coordinate unification, the point cloud processing unit is used for carrying out denoising, registration and coordinate conversion preprocessing on the acquired point clouds, and the visualization and analysis unit generates a three-dimensional visualization model with a legend based on a color scheme, the three-dimensional visualization model supports dynamic display and space measurement, and the three-dimensional visualization model is used for outputting the overexcavation boundary line and space coordinate key evaluation index data.

Description

Mining method for dynamic mining of transparent stope by three-dimensional scanning technology Technical Field The invention relates to the technical field of underground mining of metal mines, in particular to a mining method for dynamic mining of a transparent stope by a three-dimensional scanning technology. Background In underground metal mining, stope environments are hidden, space structures are complex, and internal states of the stope environments are difficult to directly observe. At present, a three-dimensional laser scanning technology is generally adopted in the industry to scan a formed goaf after stope mining is finished and construct a three-dimensional model so as to master the final caving form and volume of the goaf. However, such scanning operations are typically performed only after the end of the production, resulting in a lack of continuous, efficient data acquisition throughout the production process, creating a significant "data vacuum period". The method ensures that production management staff can grasp serious hysteresis on dynamic changes in the stope exploitation process, and cannot provide real-time and effective data support for production decisions, thereby influencing exploitation efficiency and operation safety. However, in the existing underground mining process of the metal mine, the analysis of the mining process is mostly dependent on manually comparing the two-dimensional section view of the goaf three-dimensional model with the original blasting design drawing. The method has obvious limitations that the analysis result is limited by the information of a few sections, the overall three-dimensional space morphology of the stope is difficult to comprehensively reflect, the analysis process is time-consuming and labor-consuming and low in efficiency, and the accurate quantitative data of key parameters such as goaf boundaries, super-undermining volumes and the like are lacking, so that the accurate and quantitative evaluation of the stope blasting effect and the mining process cannot be realized. The related invention patent related to mining of a three-dimensional mine model relates to the following concrete steps: The invention provides a three-dimensional model updating method for the current situation of surface mine exploitation, which comprises the following steps of creating a top line frame of a detonation pile and a bottom line frame of the detonation pile according to the measured coordinates of a blast hole orifice, inserting the intersection point into the top line frame of the detonation pile if the top line frame of the detonation pile and the top line of a step slope have an intersection point, recombining the top line frame of the detonation pile and the top line of the step slope to finish the updating of the top line of the step slope, finishing the updating of the bottom line of the step slope according to the principle of the two steps, and reconstructing a triangular net between the updated top line and the bottom line of the step slope to realize the updating of the three-dimensional model for the current situation of surface mine exploitation. The method for updating the three-dimensional model of the current situation of the surface mine exploitation can finish updating the three-dimensional model of the current situation of the surface mine exploitation by utilizing the measured coordinates of the blast hole and the orifice. However, in the above-mentioned prior art patent, the update of the three-dimensional model of the current mining situation of the surface mine can be completed by using the actually measured coordinates of the blast hole orifice, but it is still necessary to perform manual drawing comparison. The drawing needs to be manually drawn and modified, the period is long, the imaging efficiency is low, and the drawing is easily influenced by the level and habit of a diagrammer, so that the standardization is difficult, the dynamic change in the mining process cannot be synchronized in real time, the decision support is delayed, and the requirements of fine and quantitative evaluation are difficult to meet. Disclosure of Invention The application aims to provide a mining method for dynamically mining a transparent stope by a three-dimensional scanning technology, which is used for solving the problem that drawings need to be manually compared in the prior art. The method realizes rapid and accurate data acquisition of the stope exploitation progress by integrating a three-dimensional scanning system, a high-precision positioning technology and professional point cloud processing software, and carries out visual analysis and quantitative evaluation on key indexes such as stope morphology, volume, boundary, space position and the like by constructing a real three-dimensional digital model, thereby providing scientific basis for mine safety production, refined management and efficient exploitation decision. A mining method for dynamical