融合激光SLAM与视觉SLAM技术在矿山地下环境勘查与治理中的应用研究  

Research on The Application of Laser SLAM and Visual SLAM Technology in The Exploration and Management of Underground Environment in Mines

作　　者：宫少军 彭鑫 李茂智 龚国辉 GONG Shao-jun;PENG Xin;LI Mao-zhi;GONG Guo-hui(Tianjin Geological Research and Marine Geology Center,Tianjin 300170,China;MCC First Bureau(Hebei)Geological Technology Company Limited,Cangzhou 066000,China;Beijing Huaxing Exploration of New Technology Company Limited,Beijing 101102,China)

机构地区：[1]天津市地质研究和海洋地质中心,天津300170 [2]中冶一局(河北)地质科技有限公司,河北沧州066000 [3]北京华星勘查新技术有限公司,北京101102

出　　处：《中国非金属矿工业导刊》2024年第4期83-86,共4页China Non-Metallic Minerals industry

基　　金：天津华北地质勘查局B类科研项目“基于地下建构筑物激光雷达扫描技术精细化建模研究”(编号:HK2022-B30)。

摘　　要：随着“数智化”矿山建设、绿色低碳发展和技术创新多元化发展,传统依靠GNSS信号的测量方法在露天矿地质环境勘查中应用较多,针对地下环境中由于信号差、作业效率低、测量精度低等问题导致矿山地下环境勘查与治理的应用方法研究相对不足。本文通过融合激光SLAM和视觉SLAM技术获取矿山地下矿道的高精度三维点云数据和高分辨率影像数据,再将点云数据与影像数据进行匹配融合构建地下矿道的精细化三维模型。基于该模型定性、定量的获取矿山地下环境精确的地质结构、三维数值等特征信息,能够在矿山地下环境勘查与治理建设的开采优化、残矿回收、空区充填设计、安全监测与管理等诸多环节中提供科学有效的技术及数据支撑。With the development of“digital intelligence”mine construction,green low-carbon development and diversified technological innovation,the traditional measurement method relying on GNSS signal is widely used in open-pit mine geological environment exploration.In view of the problems of poor signal,low operation efficiency and low measurement accuracy in underground environment,the research on the application method of mine underground environment exploration and management is relatively insufficient.In this paper,high-precision 3D point cloud data and high-resolution image data of underground mine tunnels are obtained by combining laser SLAM and visual SLAM technology,and then the point cloud data and image data are matched and fused to construct a refined three-dimensional model of underground mine tunnels.Based on this model,the accurate geological structure,three-dimensional numerical value and other characteristic information of mine underground environment can be obtained qualitatively and quantitatively,which can provide scientific and effective technical and data support in many links such as mining optimization,residual ore recovery,goaf filling,safety monitoring and management of mine underground environment exploration and construction.

关 键 词：激光SLAM 视觉SLAM 三维建模 智慧矿山 勘查技术 

分 类 号：P237[天文地球—摄影测量与遥感]