基于三维激光点云的巷道断面提取及变形检测方法  

Roadway Section Extraction and Deformation Detection Method Based on 3D Laser Point Cloud

作　　者：聂济刚 刘建伟 李洪盛 NIE Jigang;LIU Jianwei;LI Hongsheng(Chensilou Coal Mine,Henan Energy and Chemical Group Yongmei Company,Yongcheng 476600,China;School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]河南能源化工集团永煤公司陈四楼煤矿,河南永城476600 [2]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《煤炭技术》2024年第6期105-108,共4页Coal Technology

基　　金：河南龙宇能源股份有限公司陈四楼煤矿科技研发项目(2022050057)。

摘　　要：煤矿巷道的安全性对于煤矿开采、运输以及工作人员的安全具有重要作用,但巷道环境复杂、安全隐患大,使用传统检测方法效率低、耗时长,且需要人工深入现场测量。针对煤矿巷道的变形检测问题,基于移动激光扫描的方式实现对巷道变形状态的检测。首先,以移动巡检机器人为平台,通过搭载三维激光雷达的巡检机器人实现巷道三维点云数据的获取。其次,基于融合统计滤波和中值滤波的点云去噪方法以及基于密度约束和重心临近点的体素化网格下采样点云精简方法,实现对原始点云的预处理。最后,基于处理后的点云数据提取巷道断面并拟合轮廓曲线,使用整体与局部相结合的方式进行巷道变形检测应用与分析。实验结果表明了该方法在巷道变形检测中具有较好的可行性。The safety of coal mine roadway plays an important role in the safety of coal mining,transportation and staff.However,the roadway environment is complex and the potential safety hazard is large.The traditional detection method is inefficient and time-consuming,and requires manual indepth field measurement.Aiming at the problem of deformation detection of coal mine roadway,realizes the detection of roadway deformation state based on mobile laser scanning.Firstly,based on the mobile inspection robot,the 3D point cloud data of the roadway is obtained by the inspection robot equipped with 3D laser radar.Secondly,the point cloud denoising method based on fusion statistical filtering and median filtering and the voxelized grid downsampling point cloud simplification method based on density constraints and center of gravity adjacent points are used to preprocess the original point cloud.Finally,based on the processed point cloud data,the roadway section is extracted and the contour curve is fitted.The application and analysis of roadway deformation detection are carried out by combining the whole and the local.The experimental results show the feasibility of the method in roadway deformation detection.

关 键 词：煤矿巷道 激光扫描 断面提取 变形检测 

分 类 号：TD326[矿业工程—矿井建设]