井筒内壁成图系统关键技术研究.pdf

硕士学位论文井筒内壁成图系统关键技术研究 Study on the Key Technology for Shaft Wall Mapping System 作者查剑林导师孙伟教授中国矿业大学二〇一五年五月万方数据中图分类号 TP 学校代码 10290 UDC 密级公开中国矿业大学硕士学位论文井筒内壁成图系统关键技术研究 Study on the Key Technology for Shaft Wall Mapping System 作者查剑林导师孙伟申请学位工学硕士培养单位信息与电气工程学院学科专业控制理论与控制工程研究方向传感技术与系统答辩委员会主席评阅人二〇一五年五月万方数据学位论文使用授权声明学位论文使用授权声明本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰写的学位论文的使用授权按照学校的管理规定处理作为申请学位的条件之一，学位论文著作权拥有者须授权所在学校拥有学位论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国国家图书馆保存研究生学位论文。（保密的学位论文在解密后适用本授权书）。作者签名导师签名年月日年月日万方数据论文审阅认定书论文审阅认定书研究生在规定的学习年限内，按照研究生培养方案的要求，完成了研究生课程的学习，成绩合格；在我的指导下完成本学位论文,经审阅，论文中的观点、数据、表述和结构为我所认同，论文撰写格式符合学校的相关规定，同意将本论文作为学位申请论文送专家评审。导师签字年月日万方数据致致谢谢该论文是在孙伟教授的悉心指导下完成的。在论文编写过程中，导师多次为我指点迷津，在论文的选题、写作思路等方面都给与了帮助。在三年硕士研究生的学习、生活中，导师给了我无微不至的帮助。导师治学态度严谨，工作作风精益求精，从侧面深深地影响和教育了我，让我终生受益。在导师的培养下，我得到了很多动手实践的机会，参与科研项目，增强自己的团队意识，也拓宽了自己分析问题的角度和独立解决问题的能力，并养成了主动学习和创新学习的习惯，这无疑为我以后的工作学习打下坚实的基础。在此，向导师孙伟教授致以衷心的感谢。特别感谢实验室的兄弟姐妹，为我们的共同学习环境营造了一个良好的氛围。感谢同级的左登超、聂婷、杨海群、张耀方等同学，感谢环境与测绘学院的李怀展、吴承红、赵军、张豪杰等同学在我课题开展过程中给予我大力支持和宝贵意见。同窗三年，取得的不仅是学业上的进步，更多的是一生的友谊。感谢所有的信电学院的老师，谢谢你们对我的关心和帮助，幸得有你们的指导才能使得我的研究基础更为扎实最后我要感谢我的家人和朋友，他们在生活上对我提供无微不至的关怀，使我最后顺利地完成硕士学位论文，向他们表示诚挚的感谢感谢各位专家和老师在百忙中评阅论文万方数据 I 摘摘要要井筒内壁变形监测是井筒变形灾害防治的重要前提。针对目前井筒变形监测精度差、效率低的缺陷，研发了一款井筒内壁快速成图系统。系统包含硬件和软件两个部分。其中硬件系统由测量子系统、运动控制子系统和电源子系统构成；软件系统包括参数设置模块、数据传输模块、运动控制模块、图形显示模块、故障诊断模块和数据处理模块。论文首先进行了井筒内壁成图需求分析，确定了系统设计的相关参数，优化设计了相应的测量方案；在此基础上完成了设备硬件平台的设计及相关子系统的参数优化匹配；并利用 C语言和多线程技术编写了相应的测量控制和数据处理软件，最终完成了井筒内壁成图的硬件系统和软件系统的构建。系统能够自动扫描获取目标对象并获取目标对象在其坐标系内的三维点云数据。测距、测角的相关实验结果表明系统的测距精度为 0.78mm，测角精度为 18″，单点坐标精度为 0.79mm。井筒内壁成图系统为煤矿井筒变形灾害防治提供了一条新途径，具有重要的应用价值。论文有图 53 幅，表 22 个，参考文献 70 篇。关键词关键词井筒变形监测；激光位移传感器；空间信息获取；三维扫描万方数据 Abstract Shaft deation monitoring is very important in prevention and treatment for shaft deation accident. There exists defects of low accuracy and low efficiency in those traditional monitoring s, the thesis developed a kind of mapping system applied to shaft deation monitoring. The system is consisted by hardware and software. The hardware system consists of measurement subsystem, motion control subsystem and power supply subsystem; the software system includes parameters setting module, data transmission module, motion control module, the graphic display module, fault diagnosis module and data processing module. First of all, the thesis conducted the demand analysis of the shaft wall mapping system SWMS, identified parameters relate to system design, and optimized the measurement scheme of the SWMS. On this basis, the thesis completed the design of the hardware plat, finished parameters optimizing and matching of the plat subsystems. By using C and multi-threading technology, the thesis finished the software design which is used for measurement control and data processing, and at last completed the construction of the hardware system and the software system. System can automatically scan for the target object and get the point cloud of the target’s surface in its 3D coordinate system. Some experiments related to distance measurement and angle measurement show that the precision of distance measurement is 0.78mm, the precision of angle measurement is 18″，the precision of the single point is 0.79mm. The shaft wall mapping system has some important application value because of it provides a new for prevention and treatment of shaft deation accident. The thesis has 53 figures, 22 tables and 70 references. Keywords shaft deation monitoring; laser displacement sensor; space ination acquisition; 3D Scanning 万方数据 III 目目录录摘要摘要 ............................................................................................................................... I 目录目录 ............................................................................................................................ III 图清单图清单 ....................................................................................................................... VII 表清单表清单 ........................................................................................................................ XI 变量注释表变量注释表 ............................................................................................................. XIII 1 绪论绪论 ............................................................................................................................ 1 1.1 研究背景.................................................................................................................. 1 1.2 国内外研究现状...................................................................................................... 1 1.3 国内外研究现状分析.............................................................................................. 4 1.4 研究内容.................................................................................................................. 4 1.5 研究技术路线.......................................................................................................... 5 1.6 论文章节安排.......................................................................................................... 6 2 井筒内壁成图系统总体设计井筒内壁成图系统总体设计 .................................................................................... 8 2.1 井筒内壁成图系统概述.......................................................................................... 8 2.2 井筒内壁成图系统功能需求分析.......................................................................... 8 2.3 井筒内壁成图系统的相关参数设计...................................................................... 9 2.4 系统关键技术实现方法........................................................................................ 10 2.5 井筒内壁成图系统的关键原理............................................................................ 15 2.6 井筒内壁成图系统可靠性设计............................................................................ 22 2.7 本章小结................................................................................................................ 23 3 井筒内壁成图系统硬件设计井筒内壁成图系统硬件设计 .................................................................................. 24 3.1 井筒内壁成图系统硬件子系统划分.................................................................... 24 3.2 井筒内壁成图系统的测量子系统设计及实现.................................................... 24 3.3 井筒内壁成图系统的运动控制子系统的设计与实现........................................ 29 3.4 井筒内壁成图系统的电源子系统设计与实现.................................................... 36 3.5 本章小结................................................................................................................ 37 4 井筒内壁成图系统配套软件设计井筒内壁成图系统配套软件设计 .......................................................................... 38 4.1 井筒内壁成图系统的软件设计需求分析............................................................ 38 4.2 软件总体设计........................................................................................................ 40 万方数据 IV 4.3 井筒内壁成图系统配套软件的模块化设计........................................................ 41 4.4 井筒内壁成图系统的测量过程设计.................................................................... 47 4.5 本章小结................................................................................................................ 49 5 井筒内壁成图系统配套软件的数据处理井筒内壁成图系统配套软件的数据处理模块设计模块设计 ............................................. 50 5.1 井筒内壁成图系统采集获取的数据的内容与格式............................................ 50 5.2 井筒内壁成图系统多次测量获取的数据的配准................................................ 51 5.3 井筒内壁成图系统采集获取的数据的粗差剔除................................................ 52 5.4 井筒内壁成图系统采集获取的数据的输出接口设计........................................ 55 5.5 本章小结................................................................................................................ 56 6 井筒内壁成图系统的井筒内壁成图系统的精度评定精度评定 .............................................................................. 57 6.1 系统误差分析........................................................................................................ 57 6.2 井筒内壁成图系统的测量子系统性能分析........................................................ 57 6.3 运动控制模块性能分析........................................................................................ 63 6.4 井筒内壁成图系统采集的坐标数据精度分析.................................................... 66 6.5 本章小结................................................................................................................ 68 7 结论与展望结论与展望 .............................................................................................................. 70 7.1 结论........................................................................................................................ 70 7.2 展望........................................................................................................................ 70 参考文献参考文献 ..................................................................................................................... 72 作者简历作者简历 ..................................................................................................................... 76 学位论文原创性声明学位论文原创性声明 ................................................................................................. 77 学位论文数据集学位论文数据集 ......................................................................................................... 78 万方数据 V Contents Abstract ........................................................................................................................ II Contents ....................................................................................................................... V List of Figures ........................................................................................................... VII List of Tables .............................................................................................................. XI List of Variables...................................................................................................... XIII 1 Introduction ............................................................................................................... 1 1.1 Background .............................................................................................................. 1 1.2 Research Status ........................................................................................................ 1 1.3 Analysis of Research Status ..................................................................................... 4 1.4 Research Content ..................................................................................................... 4 1.5 Technology Roadmap of the Study .......................................................................... 5 1.6 Chapter Arrangements of the Thesis ........................................................................ 6 2 Shaft Wall Mapping System Design ........................................................................ 8 2.1 Overview of the SWMS ........................................................................................... 8 2.2 Demand Analysis of SWMS Design ........................................................................ 8 2.3 Related Parameters Design of SWMS ..................................................................... 9 2.4 Implementation of Key Technologies .................................................................... 10 2.5 Key Measurement Principle of SWMS .................................................................. 15 2.6 Reliability Design of SWMS ................................................................................. 22 2.7 Chapter Summary .................................................................................................. 23 3 Hardware Design of SWMS ................................................................................... 24 3.1 Hardware Subsystems Division of SWMS ............................................................ 24 3.2 Measurement Subsystem Design and Implementation of SWMS ......................... 24 3.3 Motion Control Subsystem Design and Implementation of SWMS ...................... 29 3.4 Power Supply Subsystem Design and Implementation of SWMS ........................ 36 3.5 Chapter Summary .................................................................................................. 37 4 Supporting Software Design of SWMS ................................................................. 38 4.1 Software Design Demand Analysis of SWMS ...................................................... 38 4.2 Software Design of SWMS .................................................................................... 40 4.3 The Modular Design of the Software Supporting SWMS ..................................... 41 万方数据 VI 4.4 Measurement Process Design for SWMS .............................................................. 47 4.5 Chapter Summary .................................................................................................. 49 5 Data Process Module Design of Software Supporting SWMS ............................ 50 5.1 Content and at of the Data Acquired By SWMS ........................................... 50 5.2 Data Matching of Multiple Measurement By SWMS ........................................... 51 5.3 Gross Error Elimination of the Data Acquired By SWMS .................................... 52 5.4 Output Interface Design for Data acquired by SWMS .......................................... 55 5.5 Chapter Summary .................................................................................................. 56 6 Accuracy Assessment of SWMS ............................................................................. 57 6.1 Error Analysis of the System ................................................................................. 57 6.2 Measurement Subsystem Assessment of SWMS ................................................... 57 6.3 Motion Control Subsystem Assessment of SWMS ............................................... 63 6.4 Accuracy Analysis of the Coordinates Acquired By SWMS ................................. 66 6.5 Chapter Summary .................................................................................................. 68 7 Conclusions and Prospects ..................................................................................... 70 7.1 Conclusions ............................................................................................................ 70 7.2 Prospects .........................................