基于激光点云配准的矿井边坡变形监测方法

A mine slope deformation monitoring method based on laser point cloud registration

  • 摘要: 在露天煤矿开采中,开采环境存在复杂多变等特点,矿山整体结构的改变导致的矿山边坡形变给安全生产带来重大隐患,也会给生态环境带来一定的破坏。当前对于矿山的变形监测虽逐渐趋向于自动化,但整个过程仍需依赖于人工或各种监测设备,且设备的维护比较困难,有的设备操作较为复杂、成本较高。为了更为简便直观地监测矿井边坡的形变信息,结合基于学习的点云配准方法实现了一种基于激光点云配准的矿井边坡变形监测方法。该方法首先提出了一种深度学习模型SA-RPE(Self-Attention with Relative Position Encoding)(相对位置编码的自注意力模型)在矿山数据集上实现了点云配准,并通过实验数据进行了验证;然后,根据配准的结果对矿井边坡进行了形变分析,并通过截取矿井边坡点云不同方向的断面进一步分析了各个断面的形变程度,结合二维断面图与三维点云渲染图的实验结果,表明深度学习模型SA-RPE能够比较准确地实现矿山激光点云的配准任务。通过分析深度学习模型预测的配准结果中旋转矩阵与平移向量的误差能够很好地掌握矿山的整体形变信息,而矿井边坡点云在不同方向上的断面图直观地展现了每一处形变的程度,计算不同时期断面点云对应点之间的平均距离能定量地描述各个断面的形变程度,通过阈值检测出来的异常值反映了断面上发生了较大形变的区域。实验结果体现了所提方法能够在满足实时性的基础上准确直观地表现出矿山边坡变形的信息。

     

    Abstract: In open-pit coal mining, the mining environment is complex and changeable, and the deformation of the mine slope caused by the change of the overall structure of the mine brings major hidden dangers to safety production and will also bring certain damage to the ecological environment. At present, although the deformation monitoring of mines is gradually becoming automated, the whole process still needs to rely on manual or various monitoring equipment, and the maintenance of the equipment is relatively difficult, and the operation of some equipment is more complex and the cost is higher. In order to monitor the deformation information of mine slope more easily and intuitively, a deformation monitoring method of mine slope based on laser point cloud registration was realized by combining the learning-based point cloud registration method. Firstly, a deep learning model SA-RPE (Self-Attention with Relative Position Encoding) was proposed, which realized the point cloud registration on the mine dataset and was verified by experimental data. Then, according to the registration results, the deformation analysis of the mine slope was carried out, and the deformation degree of each section was further analyzed by intercepting the sections of the mine slope point cloud in different directions, and the experimental results of the two-dimensional cross-section and the three-dimensional point cloud rendering showed that the deep learning model SA-RPE could accurately realize the registration task of the mine laser point cloud. By analyzing the errors of the rotation matrix and the translation vector in the registration results predicted by the deep learning model, the overall deformation information of the mine can be well grasped, and the cross-sectional diagram of the mine slope point cloud in different directions intuitively shows the degree of deformation in each place, and the average distance between the corresponding points of the cross-section point cloud in different periods can quantitatively describe the deformation degree of each section, and the outliers detected by the threshold reflect the area with large deformation on the cross-section. The experimental results show that the proposed method can accurately and intuitively represent the deformation information of mine slope on the basis of satisfying real-time performance.

     

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