铀矿石放射性分选是硬岩型铀矿预选阶段通过预选抛废的核心工艺降低破磨与水冶成本、提升铀资源经济开采边界。而矿块体积是耦合γ放射性活度进而核算铀品位、判定分选阈值的关键输入参数。在当前铀矿多槽道高速输送（≤4 m/s）分选场景下，传统体积测量方法存在误差大、数据处理延时长、与分选控制系统通信实时性差等问题，无法支撑品位精准判定。为解决这些问题，设计了一种基于ZYNQ-SOC的激光扫描铀矿块体积测量系统。该系统以Xilinx ZYNQ-7020 SOC芯片为核心，通过激光扫描仪采集铀矿块表面三维点云数据，依托ZYNQ-SOC的PL端硬件加速流水线完成点云去噪、配准与有效区域提取，结合编码器同步反馈输送线位移，采用“点云解析+截面积分法”实现矿块体积与中心坐标的快速计算。系统基于ZYNQ-SOC异构平台，其处理系统（PS）端依托千兆以太网高速通信链路，实现对前端激光扫描设备点云数据的高速采集交互，并将体积测量结果传输至后端放射性分选系统的PLC。同时，通过融合对接γ放射性探测模块的原位检测数据，实现铀矿品位指标的实时在线解算，为放射性分选控制提供数据支撑。试验结果表明，该系统通过软硬件协同设计，显著提升了点云处理的实时性，数据链路总延迟≤30 ms，对粒度50～120 mm的铀矿石，85%以上样本的测量误差控制在±20%以内，最优工况下平均测量误差仅4.75%，满足铀矿石放射性分选生产线的高速在线检测需求，为提升中国铀矿选矿自动化水平、拓展可经济利用铀资源量提供了有效支撑。

Radioactive sorting of uranium ore is a core process in the pre-concentration stage of hard-rock uranium mining. It is crucial for reducing crushing， grinding， and hydrometallurgical costs， as well as for improving the economic mining cutoff grade of uranium resources. The volume of ore blocks is a key input parameter for coupling with gamma radioactivity to calculate uranium grade and determine sorting thresholds. In current high-speed multi-channel conveyor sorting scenarios (≤4 m/s)， traditional volume measurement methods suffer from significant drawbacks， including large errors， high data processing latency， poor real-time communication with sorting control systems， and an inability to support precise grade determination. To address these issues， we designed a laser scanning volume measurement system for uranium ore blocks based on ZYNQ-SOC. Centered on Xilinx ZYNQ-7020 SOC chip， the system acquires 3D point cloud data of the ore block surfaces via a laser scanner. It relies on the Programmable Logic (PL) hardware acceleration pipeline of the ZYNQ-SOC to complete point cloud denoising， registration， and effective area extraction. Combined with synchronous displacement feedback from an encoder， the system employs a “point cloud parsing + cross-sectional integration method” to rapidly calculate the volume and center coordinates of the ore blocks. Leveraging the heterogeneous ZYNQ-SOC platform， the Processing System (PS) utilizes a high-speed Gigabit Ethernet communication link. This achieves high-speed acquisition and interaction of point cloud data with the front-end laser scanning equipment， and outputs volume measurement results to the Programmable Logic Controller (PLC) of the back-end radioactive sorting system. By fusing in-situ detection data from the integrated gamma radiation detection module， the system realizes real-time online calculation of uranium ore grade indicators， providing data support for radioactive sorting control. Experimental results demonstrate that the system significantly improves the real-time performance of point cloud processing through the collaborative design of hardware and software， with a total data link latency of ≤30 ms. For uranium ores with a particle size of 50–120 mm， the measurement error for over 85% of the samples is controlled within ±20%， with an average measurement error of only 4.75% under optimal conditions. The system meets the requirements for high-speed online inspection in uranium ore radioactive sorting production lines， providing technical support for enhancing the automation level of uranium mineral processing in China and expanding the reserves of economically exploitable uranium resources.