CN111734489A - Tunnel monitoring system based on VR - Google Patents
Tunnel monitoring system based on VR Download PDFInfo
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- CN111734489A CN111734489A CN201910226395.XA CN201910226395A CN111734489A CN 111734489 A CN111734489 A CN 111734489A CN 201910226395 A CN201910226395 A CN 201910226395A CN 111734489 A CN111734489 A CN 111734489A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000012545 processing Methods 0.000 claims abstract description 36
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 6
- 238000002310 reflectometry Methods 0.000 claims description 3
- 230000002194 synthesizing effect Effects 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 10
- 239000011435 rock Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000032798 delamination Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000010076 replication Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention provides a VR-based roadway monitoring system, which comprises a three-dimensional scanning device and a ground monitoring center, wherein the three-dimensional scanning device is arranged in a roadway; the three-dimensional scanning device comprises a scanning module and a camera module, and the ground monitoring center comprises a processing module and a VR display module; the device can be applied to coal mine tunnels, the device utilizes three-dimensional laser scanning camera equipment to analyze, collect and analyze three-dimensional data of the tunnels, and meanwhile, three-dimensional real scenes of the coal mine tunnels can be observed through VR in any places.
Description
One, the technical field
The invention belongs to the field of roadway monitoring, and particularly relates to a roadway monitoring system based on VR.
Second, background Art
Before coal mining, all rock stratums are in a stress balance state. The original static balance of the surrounding rock body is destroyed by roadway excavation, so that the original stress in the surrounding rock body of the roadway is subjected to secondary distribution. And if the secondary stress reaches or exceeds the strength limit of the surrounding rock, the surrounding rock of the roadway is subjected to instability damage. The shape and position of the roadway can change in the space-time domain, and roadway deformation is generated. When the deformation does not exceed a certain amount, no harm is caused, and when the deformation exceeds the allowable range which can be borne by the rock mass, serious disasters are often caused. Mine enterprises can strictly monitor roadway conditions, and once roadway deformation is monitored, the enterprises can timely perform reinforcement treatment before danger occurs, so that serious safety accidents are avoided. The difficulty is how to accurately monitor the deformation of the roadway in time.
However, the current mainstream roadway monitoring technology still stays in the complicated, low-precision and low-frequency stage mainly based on mechanical type, and the current mainstream roadway monitoring technology judges the deformation degree of the roadway by monitoring the separation layer of the roadway top plate so as to take corresponding roadway reinforcing measures. The technical principle is as follows: before the coal seam is not mined, the roof and the surrounding rock strata are in a stress balance state, and the stress is redistributed to reach the balance state after the coal seam is mined. During this process, the formation is subjected to tensile and shear failure and delamination occurs. Because of the differences in the cementing forces within the formation, delamination typically occurs at the interface of two layers of different lithology. The disadvantages of the roof delamination technique are quite evident: (1) the installation process is complicated, the workload is large, and installation personnel are required to enter a roadway to install relevant equipment; (2) monitoring is not comprehensive enough (one monitoring point is generally spaced by 50 meters), only the change degree of the top plate can be monitored, and the deformation conditions of the two walls and the bottom cannot be monitored; (3) the cost of consumed manpower, material resources and time is high. Therefore, the existing tunnel monitoring technology cannot meet the increasingly improved safety production standard, and a convenient, high-precision and high-dimensionality tunnel real-time monitoring product is urgently needed by coal mine enterprises.
Third, the invention
In view of this, in order to overcome the defects of the existing products, the invention provides a tunnel monitoring system based on VR, which can be applied to a coal mine tunnel. The implementation of the various parts of the system is described below:
the utility model provides a tunnel monitoring system based on VR which characterized in that: the system comprises a three-dimensional scanning device and a ground monitoring center which are arranged in a roadway; the three-dimensional scanning device comprises a scanning module and a camera module, and the ground monitoring center comprises a processing module and a VR display module;
the scanning module is used for scanning three-dimensional point cloud data of points on the surface of the roadway and transmitting the three-dimensional point cloud data to the processing module;
the camera module is used for carrying out 360-degree panoramic shooting on the roadway and sending shot picture data to the processing module;
the processing module is used for receiving the three-dimensional point cloud data sent by the scanning module and the picture data sent by the camera module, reconstructing a three-dimensional digital model of the roadway according to the three-dimensional point cloud data and synthesizing a real-time three-dimensional live view of the roadway according to the picture data; the processing module is also used for analyzing the change condition of the roadway structure in real time based on the three-dimensional digital model and the panoramic picture and positioning abnormal points of the roadway; the processing module sends the three-dimensional digital model, the three-dimensional real scene and the abnormal point to the VR display module;
the VR display module is used for receiving the three-dimensional real scene and the abnormal points sent by the processing module and performing VR display;
preferably, the scanning module is a laser scanner;
preferably, the three-dimensional point cloud data comprises three-dimensional coordinates, reflectivity and texture information;
preferably, the processing module comprises computer software, which is used for reconstructing a three-dimensional digital model and a three-dimensional real scene of the roadway and calculating to obtain the abnormal point;
preferably, the processing module is a computer;
the processing module also comprises a display screen which is used for displaying the three-dimensional real scene and the abnormal points;
preferably, the processing module and the VR display module are connected through wireless communication;
preferably, the wireless communication mode is any one of WiFi, 3G/4G, GPRS, bluetooth and RFID.
According to the roadway monitoring system, traditional mechanical detection equipment does not need to be installed in the roadway, real-time data of each roadway can be automatically scanned only by carrying the laser scanner to the roadway by measuring personnel, the monitoring surface is not limited to roof separation, but changes of the whole roadway are realized, an abnormal point can be accurately positioned, and mine operation is safer. Meanwhile, technicians can watch the three-dimensional live-action map of the whole roadway through the VR without entering the roadway, can watch the scenes of any position of the whole roadway through the VR in any place, and is strong in telepresence.
Description of the drawings
Fig. 1 is a block diagram of a VR-based roadway monitoring system of the present invention.
Fifth, detailed description of the invention
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the VR-based roadway monitoring system of the present invention includes a three-dimensional scanning device 1 and a ground monitoring center 2, which are disposed in a roadway; the three-dimensional scanning device 1 comprises a scanning module 11 and a camera module 12, and the ground monitoring center 2 comprises a processing module 21 and a VR display module 22.
The scanning module 11 is configured to scan three-dimensional point cloud data of points on the surface of the roadway and transmit the three-dimensional point cloud data to the processing module 21; preferably, the scanning module 11 is a laser scanner. The three-dimensional laser scanning technology is also called as live-action replication technology, and is a technical revolution following the GPS technology in the mapping field. The three-dimensional laser scanning method breaks through the traditional single-point measurement method, has the unique advantages of high efficiency and high precision, and can provide three-dimensional point cloud data of the surface of a scanned object by the three-dimensional laser scanning technology, so that the method can be used for acquiring a digital terrain model with high precision and high resolution.
The camera module 12 is configured to perform 360-degree panoramic shooting on the roadway and send shot picture data to the processing module 21; the three-dimensional laser scanning device also has a 360-degree panoramic camera shooting function, a panoramic camera is used for shooting pictures of the roadway, and panoramic pictures of the roadway can be synthesized through computer software processing, so that the real three-dimensional real scene of the roadway can be finally restored.
The processing module 21 is configured to receive the three-dimensional point cloud data sent by the scanning module 11 and the picture data sent by the camera module 12, reconstruct a three-dimensional digital model of the roadway according to the three-dimensional point cloud data, and synthesize a real-time three-dimensional live view of the roadway according to the picture data; the processing module 21 is further configured to analyze a change condition of a roadway structure in real time based on the three-dimensional digital model and the panoramic image, and locate abnormal points of the roadway; the processing module 21 sends the three-dimensional digital model, the three-dimensional real scene, and the outlier to the VR display module 22.
The VR display module 22 is configured to receive the three-dimensional real scene and the outlier sent by the processing module 21, and perform VR display. Virtual Reality (VR) technology is an important direction of simulation technology, and can be used for simulating a real environment. The three-dimensional laser scanner and the 360-degree panoramic photographing technology are used in the mine field for the first time, a real-time dynamic three-dimensional vivid image is generated by a computer, and finally a live-action picture of a coal mine roadway can be completely reproduced on VR.
Preferably, the three-dimensional point cloud data comprises three-dimensional coordinates, reflectivity and texture information.
Preferably, the processing module 21 includes computer software, which is used for reconstructing a three-dimensional digital model and a three-dimensional real scene of the roadway and calculating to obtain the outliers.
Preferably, the processing module 21 is a computer, which includes a display screen for displaying the three-dimensional real scene and the outlier. The roadway monitoring system can realize multi-interface display of the condition in the roadway, namely, the condition can be displayed on a computer and a VR (virtual reality) at the same time.
In order to enable technicians to observe the scene of any position of the whole roadway at any place through VR, the embodiment preferably enables the processing module 21 and the VR display module 22 to be connected through wireless communication mode, and the wireless communication mode is any one of WiFi, 3G/4G, GPRS, Bluetooth and RFID.
The roadway monitoring system can automatically scan the real-time data of each roadway by only carrying a laser scanner to the roadway by a measuring person without the need of a technician entering the roadway, and the ground monitoring center processes the real-time data through computer software, so that a digital model of the roadway and a synthesized three-dimensional live-action image of the roadway are established, and all live-actions of the whole roadway can be observed on a computer and VR. The ground monitoring center can process through software, compares the difference between two groups of different data, accurately analyzes the change condition of the roadway, finds out abnormal points of the roadway, quickly and accurately positions the data provided by the laser scanner to the abnormal points of the roadway, observes the live-action image of the corresponding point position on the synthesized three-dimensional stereogram, and judges whether reinforcement processing is needed or not.
The above examples are only for illustrating the content of the present invention, and besides the above embodiments, the present invention has other embodiments, and any technical solutions formed by equivalent alternatives or equivalent modifications fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a tunnel monitoring system based on VR which characterized in that: the system comprises a three-dimensional scanning device and a ground monitoring center which are arranged in a roadway; the three-dimensional scanning device comprises a scanning module and a camera module, and the ground monitoring center comprises a processing module and a VR display module;
the scanning module is used for scanning three-dimensional point cloud data of points on the surface of the roadway and transmitting the three-dimensional point cloud data to the processing module.
The camera module is used for carrying out 360-degree panoramic shooting on the roadway and sending shot picture data to the processing module.
The processing module is used for receiving the three-dimensional point cloud data sent by the scanning module and the picture data sent by the camera module, reconstructing a three-dimensional digital model of the roadway according to the three-dimensional point cloud data and synthesizing a real-time three-dimensional live view of the roadway according to the picture data; the processing module is also used for analyzing the change condition of the roadway structure in real time based on the three-dimensional digital model and the panoramic picture and positioning abnormal points of the roadway; and the processing module sends the three-dimensional digital model, the three-dimensional real scene and the abnormal point to the VR display module.
And the VR display module is used for receiving the three-dimensional real scene and the abnormal points sent by the processing module and performing VR display.
2. The VR-based roadway monitoring system of claim 1, wherein: the scanning module is a laser scanner.
3. The VR-based roadway monitoring system of claim 2, wherein: the three-dimensional point cloud data comprises three-dimensional coordinates, reflectivity and texture information.
4. The VR-based roadway monitoring system of claim 1, wherein: the processing module comprises computer software which is used for reconstructing a three-dimensional digital model and a three-dimensional real scene of the roadway and calculating to obtain the abnormal point.
5. The VR-based roadway monitoring system of claim 4, wherein: the processing module also comprises a storage module which is used for storing all data received and generated by the processing module.
6. The VR-based roadway monitoring system of claim 5, wherein: the processing module is a computer.
7. The VR-based roadway monitoring system of claim 1, wherein: the processing module also comprises a display screen which is used for displaying the three-dimensional real scene and the abnormal point.
8. The VR-based roadway monitoring system of claim 7, wherein: the processing module is connected with the VR display module in a wireless communication mode.
9. The VR-based roadway monitoring system of claim 8, wherein: the wireless communication mode is any one of WiFi, 3G/4G, GPRS, Bluetooth and RFID.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910226395.XA CN111734489A (en) | 2019-03-25 | 2019-03-25 | Tunnel monitoring system based on VR |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910226395.XA CN111734489A (en) | 2019-03-25 | 2019-03-25 | Tunnel monitoring system based on VR |
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| CN111734489A true CN111734489A (en) | 2020-10-02 |
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| CN201910226395.XA Pending CN111734489A (en) | 2019-03-25 | 2019-03-25 | Tunnel monitoring system based on VR |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101515372A (en) * | 2009-02-04 | 2009-08-26 | 北京石油化工学院 | Visual analyzing and predicting method based on a virtual geological model |
| CN102053249A (en) * | 2009-10-30 | 2011-05-11 | 吴立新 | Underground space high-precision positioning method based on laser scanning and sequence encoded graphics |
| CN106959748A (en) * | 2017-02-20 | 2017-07-18 | 西安科技大学 | A kind of roadway surrounding rock calamity emergency prediction scheme system and method based on virtual reality |
| CN107305426A (en) * | 2016-04-19 | 2017-10-31 | 中国矿业大学(北京) | A kind of down-hole scene panoramic capture and the apparatus and method for reappeared |
| KR20180032138A (en) * | 2016-09-21 | 2018-03-29 | 주식회사 지오제니컨설턴트 | Method for Surveying and Monitoring Mine Site by using Virtual Reality and Augmented Reality |
| CN107990876A (en) * | 2017-11-20 | 2018-05-04 | 北京科技大学 | The quick scanning means in underground mine goaf and method based on unmanned vehicle |
| CN108590657A (en) * | 2018-04-16 | 2018-09-28 | 三重型装备有限公司 | Digging control method, the control system of underworkings |
-
2019
- 2019-03-25 CN CN201910226395.XA patent/CN111734489A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101515372A (en) * | 2009-02-04 | 2009-08-26 | 北京石油化工学院 | Visual analyzing and predicting method based on a virtual geological model |
| CN102053249A (en) * | 2009-10-30 | 2011-05-11 | 吴立新 | Underground space high-precision positioning method based on laser scanning and sequence encoded graphics |
| CN107305426A (en) * | 2016-04-19 | 2017-10-31 | 中国矿业大学(北京) | A kind of down-hole scene panoramic capture and the apparatus and method for reappeared |
| KR20180032138A (en) * | 2016-09-21 | 2018-03-29 | 주식회사 지오제니컨설턴트 | Method for Surveying and Monitoring Mine Site by using Virtual Reality and Augmented Reality |
| CN106959748A (en) * | 2017-02-20 | 2017-07-18 | 西安科技大学 | A kind of roadway surrounding rock calamity emergency prediction scheme system and method based on virtual reality |
| CN107990876A (en) * | 2017-11-20 | 2018-05-04 | 北京科技大学 | The quick scanning means in underground mine goaf and method based on unmanned vehicle |
| CN108590657A (en) * | 2018-04-16 | 2018-09-28 | 三重型装备有限公司 | Digging control method, the control system of underworkings |
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Application publication date: 20201002 |