基于SLAM的井筒倾斜变形监测方法研究  

Research on monitoring method of shaft tilt deformation based on SLAM

作　　者：耿智江 周大伟[1] 白志辉[2] 占喜林 刁鑫鹏[1] GENG Zhijiang;ZHOU Dawei;BAI Zhihui;ZHAN Xilin;DIAO Xinpeng(School of Environment and Geomatics,China University of Mining and Technology,Xuzhou 221116,China;Jizhong Energy Fengfeng Group Co.,Ltd.,Handan 056005,China)

机构地区：[1]中国矿业大学环境与测绘学院,江苏徐州221116 [2]冀中能源峰峰集团有限公司,河北邯郸056005

出　　处：《煤矿安全》2023年第4期156-162,共7页Safety in Coal Mines

基　　金：国家自然科学基金资助项目(52104174);江苏省自然科学基金资助项目(BK20190642);宁夏回族自治区重点研发计划资助项目(2022BEG03065)。

摘　　要：针对传统矿山井筒安全监测方法中存在效率低(需停产监测)、数据量少、误差大等问题,提出利用激光SLAM(Simultaneous Localization and Mapping实时定位与建图)技术监测井筒倾斜变形的方法。以峰峰集团牛儿庄矿主井为研究对象,设计监测方案并利用激光SLAM技术感知井筒的内部信息,采用K′-means算法提取井筒边界点云,建立马尔可夫数学模型得到点云切片的中心,进而建立井筒中心基准线,根据整体和分段的方法分析了井筒倾斜变形。结果表明:井筒整体竖向倾斜1.99‰,上部井筒(距井口0~100 m)竖向倾斜3.06‰,下部井筒(距井口150~205 m)竖向倾斜1.85‰;相对于传统监测方法,激光SLAM工作时长由1 d甚至更长时间缩短至1 h,在井筒罐笼检修时间内即可完成监测工作,不需要停产的同时工作效率显著提高。In view of the problems existing in traditional shaft safety monitoring methods such as low efficiency(need monitoring after production stop),less data and large error,a method of monitoring shaft tilt deformation with laser SLAM(Simultaneous Localization and Mapping)technology was proposed.The main shaft of Niuerzhuang Mine of Fengfeng Group was taken as the research object,the monitoring plan was designed and the laser SLAM technology was used to perceive the internal information of shaft.The K′-means algorithm was adopted to extract the point cloud of shaft boundary,the Markov mathematical model was established to get the center of point cloud slice,and then to the shaft center datum line was set up,the shaft tilt deformation was analyzed based on integral and subsection methods.The results showed that the overall vertical inclination of the shaft was 1.99‰,the vertical inclination of upper shaft(0-100 m away from the shaft head)was 3.06‰,and the vertical inclination of lower shaft(150-205 m away from the shaft head)was 1.85‰.Compared with the traditional monitoring method,the working time of laser SLAM can be shortened from one day or even longer to one hour.The monitoring work can be completed within the maintenance time of the shaft cage,and the work efficiency is significantly improved without stopping production.

关 键 词：井筒倾斜变形 三维激光扫描 SLAM技术 监测方法 点云处理 

分 类 号：TD679[矿业工程—矿山机电]