武汉工程大学学报2025，Vol.47Issue(5)：548-555,8.DOI:10.19843/j.cnki.CN42-1779/TQ.202407018
基于激光雷达的矿山巷道形变检测系统设计
A mine tunnel deformation detection system based on LiDAR
摘要
Abstract
As phosphate ore is mined at greater depths,mine tunnels face greater risks of roof caving,rib spalling,and even collapse,making tunnel deformation detection crucial.We designed a tunnel deformation detection system using light detection and ranging,inertial measurement unit,and an encoder as main sensors.These three sensors were installed on a movable vehicle platform to collect data.During this process,the extended Kalman filtering algorithm fused the data to obtain the tunnel's three-dimensional point cloud data.And we proposed tunnel deformation identification algorithm based on dynamic threshold.First,two-phase point clouds for deformation comparison were registered into the same coordinate system.Then,according to the local environment and point cloud density,the thresholds for deformation identification in different areas of these point clouds were adjusted to enhance the accuracy of deformation identification.Finally,we used the slice method to calculate the volume of the deformed part.In actual mine tunnel environment experiments,by using simulated objects,we compared the actual values of the deformed parts with the system-calculated values to test the identification ability of this deformation detection system.The results showed that in an approximately 5 m diameter tunnel,this detection system had an average error of 3%in measuring the size of the deformed part and that of 12%in calculating the deformation volume,indicating accurate identification of tunnel deformation.关键词
激光雷达/三维点云/数据融合/形变检测Key words
LiDAR/three-dimensional point cloud/data fusion/deformation detection分类
矿业与冶金引用本文复制引用
陈江,於家成,吝曼卿,卢永雄,熊伦..基于激光雷达的矿山巷道形变检测系统设计[J].武汉工程大学学报,2025,47(5):548-555,8.基金项目
国家自然科学基金(52174085) （52174085）
湖北省安全生产专项资金科技项目(SJZX20220910) （SJZX20220910）
国家磷资源开发利用工程技术研究中心开放基金(NECP2022-08) （NECP2022-08）
