基于三维激光扫描的煤矿巷道变形监测SLAM适用性研究

Research on SLAM applicability for coal mine roadway deformation monitoring based on 3D laser scanning

激光SLAM建图技术作为一种近年来出现的高效三维重构手段,逐渐被引入到煤矿领域中。通过理论研究、试验验证分析等手段,以基于激光SLAM的巷道三维地图重构为出发点,开展了SLAM在三维激光扫描监测巷道变形中的适用性研究。对比分析了激光SLAM技术与架站式三维激光扫描技术构建的巷道点云地图在建图效率、局部建图精度以及截取断面的差异,结果显示,激光SLAM建图效率提高6~8倍,局部精度仅降低1 cm,断面配准误差达到毫米级,以此验证了激光SLAM技术在巷道变形监测领域的适用性以及优势。

Laser SLAM mapping technology,as an efficient 3D reconstruction method emerged in recent years,has gradually been introduced into the field of coal mining.Through theoretical research,experimental verification and analysis,starting from the reconstruction of 3D maps of roadways based on laser SLAM,the applicability of SLAM in monitoring roadway deformation through 3D laser scanning was studied.A comparative analysis was conducted on the differences in mapping efficiency,local mapping accuracy,and cross-sectional difference of roadway point cloud maps constructed by laser SLAM technology and gantry 3D laser scanning technology.The results showed that the efficiency of laser SLAM mapping was improved by 6-8 times,local accuracy was only reduced by 1 cm,and cross-sectional registration errors reached millimeter level,which validated the applicability and advantages of laser SLAM technology in the field of roadway deformation monitoring.