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基于激光SLAM的切片式巷道体积计算方法

朱传明刘晓明李先敬马少维娄宏伟赵子瑜崔冰谭丽龙

铜业工程Issue(6)：66-75,10.

铜业工程Issue(6)：66-75,10.DOI:10.3969/j.issn.1009-3842.2024.06.008

基于激光SLAM的切片式巷道体积计算方法

LiDAR SLAM-Based Slicing Method for Tunnel Volume Estimation

朱传明 ¹刘晓明 ¹李先敬 ²马少维 ³娄宏伟 ⁴赵子瑜 ⁵崔冰 ⁶谭丽龙⁴

作者信息

1. 深圳市中金岭南有色金属股份有限公司,广东深圳 518042
2. 深圳市中金岭南有色金属股份有限公司凡口铅锌矿,广东韶关 512325
3. 深圳市中金岭南有色金属股份有限公司,广东深圳 518042||中南大学资源与安全工程学院,湖南长沙 410083
4. 长沙迪迈科技股份有限公司,湖南长沙 410083
5. 中南大学资源与安全工程学院,湖南长沙 410083
6. 北方矿业有限责任公司,北京 100088
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摘要

Abstract

The precise surveying of mine tunnels is a crucial component of mining operations,yet current surveying methods lack rapid and efficient data measurement and sharing capabilities.This study introduces an adaptive slice-based volume calculation method for tunnels,leveraging portable laser scanners and capable of integration into various Simultaneous Localization and Mapping(SLAM)frameworks to meet the demands for high accuracy and real-time field surveying.Field experiments demonstrate that,compared to tradi-tional mining measurement techniques,both volume and cross-sectional errors are maintained within 2%,with computation times kept under 200 ms.Moreover,this allows real-time viewing of the measured tunnel volume on handheld devices and facilitates rapid integra-tion with backend mining software,effectively enhancing on-site surveying efficiency and improving data sharing capabilities between departments.

关键词

井巷测绘/便携式SLAM扫描仪/点云模型/切片法/Alpha-shape

Key words

mine tunnel surveying/portable SLAM scanner/point cloud model/slicing method/Alpha-shape

分类

矿业与冶金

引用本文复制引用

朱传明,刘晓明,李先敬,马少维,娄宏伟,赵子瑜,崔冰,谭丽龙..基于激光SLAM的切片式巷道体积计算方法[J].铜业工程,2024,(6):66-75,10.

基金项目

国家自然科学基金面上项目(202352374256)资助（202352374256）

铜业工程

ISSN：1009-3842

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