基于SLAM技术的移动式三维激光扫描仪在地震救援中的应用  

Application of Mobile 3D Laser Scanner Based on SLAM Technology in Earthquake Rescue

作　　者：闫纪元 李宁[1] 王盈 宋光 张雪华 张硕南 冯军[1] Yan Jiyuan;LI Ning;Wang Ying;Song Guang;Zhang Xuehua;Zhang Shuonan;Feng Jun

机构地区：[1]中国地震应急搜救中心

出　　处：《中国应急救援》2024年第3期33-38,共6页China Emergency Rescue

摘　　要：地震救援现场建筑结构评估是施行生命搜救作业的前提,也是进行安全施救的保障。基于SLAM(Simultaneous localization and mapping,即时定位与地图构建)技术的移动式三维激光扫描仪具有体积小、重量轻、可多平台搭载移动作业等多种优点,其“所见即所得”的特点为进行地震救援现场建筑物结构安全评估提供了便利。本文以“应急使命·2023”演习场地和2023年12月18日甘肃积石山6.2级地震现场为例,对移动式三维激光扫描仪在地震救援中的应用进行验证。通过移动式三维激光扫描仪对救援场地进行扫描,获取点云数据开展建模,并对场地的分区布局、建筑类型、建筑结构等特征数据进行提取,在此基础上进行建筑物结构安全评估工作。结果表明基于SLAM技术的移动式三维激光扫描仪具有易于携带、操作简单、作业高效、测量精度高的特点,为地震救援现场开展现场评估工作提供了新的技术方法,具有良好的应用前景。The assessment of building structure in earthquake rescue site is not only the premise of life search and rescue operations,but also the guarantee of safe rescue.Taking simultaneous localization and mapping(SLAM)as basis,the mobile 3D laser scanner based on real-time positioning and mapping technology has the advantages of small size,light weight,multi-platform carrying and moving action.Its characteristic of“what you see is what you get”provides convenience for the structural safety assessment of buildings in earthquake rescue sites.In this paper,the exercise site of“Emergency Mission 2023”and the site of Jishishan M6.2 earthquakes in Gansu Province on December 18,2023 are taken as examples.The application of mobile 3D laser scanner in earthquake rescue is verified.A mobile three-dimensional laser scanner is used to scan the rescue site to obtain point cloud data for modeling.The characteristic data such as the zoning layout,building type and building structure of the site are extracted.Then,safety assessment of the building structure is carried out.Results show that the mobile 3D laser scanner based on SLAM technology is easy to carry,simple to operate,efficient in operation and high in measurement accuracy.It provides a new technical method for the field assessment of earthquake rescue and has a good application prospect.

关 键 词：移动式三维激光扫描仪 SLAM 技术 地震救援 应急使命·2023 甘肃积石山6.2级地震 

分 类 号：P315.9[天文地球—地震学] P225.2[天文地球—固体地球物理学]