基于GeoSLAM的矿山生产环境快速虚拟重构研究

Research on Rapid Virtual Reconstruction of Mine Production Environment Based on GeoSLAM System

针对现有生产环境重构方法存在工作周期长、现场工作量大、建模精度低、设备便携性差等问题,开展基于GeoSLAM系统的矿山生产环境快速重构研究。分析了GeoSLAM系统软组成和空间点云数据定位与地图重构技术的工作原理,提出井下生产环境三维场景快速重构作业流程和基于GeoSLAM测量数据与工程测量数据组合建模技术。研究成果应用于某金矿井下生产环境重构实践,结果表明本研究提出的重构工作流程和点云建模技术行之有效,生成的模型可直接与三维资源模拟软件及开采设计软件良好衔接,为数字化开采及管理提供技术支持,为智能化、无人开采提供环境数据支撑。

Aiming at the problems of the existing underground production environment reconstruction methods,such as large preparation and field workload,poor modeling accuracy and poor equipment portability,the rapid reconstruction of mine production environment based on GeoSLAM system is carried out.This paper introduces the software and hardware composition of GeoSLAM system,and analyzes the principle of spatial point cloud data generation,simultaneous positioning,and map reconstruction technology.Based on this,the work flow of 3D scene rapid reconstruction of underground production environment is established,and a combined modeling method combining GeoSLAM system modeling and engineering survey data modeling is proposed.Finally,the research results are applied to the reconstruction of underground production environment in a Gold mine.The results show that the reconstruction workflow and point cloud processing method proposed in this paper are effective,and the 3D resource mining software and mining design software can directly use the model generated by this method,provide technical support for digital mining and management,and provide environmental data support for intelligent and unmanned mining.