基于SLAM技术的溜井形变检测方法

Deformation Detection Method of Main Ore Pass Based on SLAM Technology

溜井作为矿山开采系统的重要组成部分,其形变程度直接关系着矿山的安全生产。针对传统矿山安全检测方法存在数据采集效率低、精度差且缺少适用的分析方法等问题,提出基于实时定位与建图(simultaneous localization and mapping, SLAM)技术的矿山溜井形变安全检测方法。首先设计了基于SLAM技术的手持式激光扫描仪在溜井内部的数据获取方法,并对其进行数据预处理,得到完整的点云数据;然后利用Delaunay生长法构建溜井实体模型,提取指定位置的断面信息,最终准确分析其内部形变情况。以山东某金矿溜井为例,在不同时间段获取两期点云数据,试验结果表明,基于SLAM技术的移动测量方法能够准确、全面地获取溜井内部的三维数据,且能够满足溜井后期治理工作的精度要求。

The ore pass is an important part of the mining system, and its deformation degree is directly related to the safe production of the mine. Aiming at the problems of traditional detection methods such as low efficiency, poor accuracy, and intuitionistic results, the article proposes a method for detecting deformation of the main ore pass based on simultaneous localization and mapping technology. First, a handheld type based on SLAM technology is designed. The laser scanner acquires data inside the main ore pass, and uses the three-dimensional Delaunay growth method to construct a three-dimensional ore pass model to accurately extract the internal deformation information. Deformation detection of a pass in a gold mine in Shandong. Experimental results show that mobile measurement based on SLAM technology can quickly and comprehensively obtain three-dimensional data inside the pass, and the results can meet the accuracy requirements of the later treatment work of the ore pass well.