关键词: 单线激光雷达　激光测距仪　传感器集成　智能矿山　仓储存量盘点　点云处理

Abstract: Enhancing the level of informationization in mine surveying is the critical foundation for intelligent mining. The plant storage is the important place for managing the production of minerals. As a result,a timely and accurate pile inventory within the plant storage is crucial for the planning of mineral production. However,due to the intricate operational conditions and restricted accessibility to workers,the traditional surveying techniques have challenges in acquiring comprehensive geometry of the pile surface. Consequently,this leads to inadequate accuracy and low efficiency in conducting pile inventories. In order to address the aforementioned issue,a novel sliding equipment system is proposed for on-line pile inventory. The developed equipment combines the vertical coordinates obtained through single-pulse scanner with the horizontal coordinates acquired by a rangefinder. This equipment enables integrated online processing of 3D point cloud acquisition,digital surface model construction, and pile volume calculation,with adaptability to expand hardware integration methods according to specific requirements. Additionally,it supports the development of functionalities such as visualization. Experiments were undertaken at the Zijinshan Gold and Copper Mine concentrator to analyze the effectiveness of the proposed equipment system for pile inventory. The primary emphasis of these experiments was to evaluate the pile volume measurements. The experimental results indicate that the developed equipment has the capability to perform online pile inventory with a repeatability of above 99%. Further-more,when compared to on-site weighting measurement,the developed equipment exhibits an accuracy that exceeds 99%. The scanned point cloud exhibits superior quality and the data processing efficiency surpasses that of commercial scanners,such as GEO-SLAM. In forthcoming endeavors,the developed equipment will offer technical assistance in various domains,including volume estimation of open-pitm mine,construction of three-dimensional geometries,quantification of the exposed mining heap, and real-time loading inventory of vehicles. These functionalities hold immense importance in the establishment of intelligent mining operations.

Key words: single-pulse scanner,laser rangefinder,sensor integration,intelligent mine,pile inventory,point cloud processing