Mineshaft Deformation Monitoring And Damage Feature Extraction Based On Laser SLAM

China is a major mining production country with abundant mining resources.Mining and production inject a continuous stream of power into the development of the national economy.The mineshaft is the "lifeline" of mining work,which is not only related to the safety of mining personnel,but also to the safety of mining instruments and equipment.Therefore,it is particularly important to carry out deformation monitoring and safety detection on the wellbore to ensure the normal operation of the mineshaft.Efficient,high-precision,convenient and safe monitoring of mineshaft is currently one of the most important research topics in mining work.The conventional mineshaft monitoring technology has problems such as low monitoring efficiency,difficulty in on-site testing,and poor data quality,which cannot meet the automation and standardization needs of the mining industry.This article uses 3D laser scanning to obtain the coordinates of the points to be measured and generate a high-precision3 D model of the mineshaft surface.Through data processing and algorithm research on the mineshaft point cloud,the inclination and damage status of the wellbore are extracted and analyzed,which can assist in generating maintenance plans,achieve effective and timely warning,and avoid potential accidents.This study is based on SLAM(Simultaneous Localization and Mapping)technology and expands the field of mineshaft safety monitoring.It provides a high-precision,efficient,and non-contact method for monitoring deformation and damage of mineshafts.The main work and achievements of mineshaft safety monitoring in this thesis are as follows:(1)The method of Deformation monitoring of mineshaft by laser SLAM is proposed,and the accuracy range of the method is evaluated.And explored the principle of laser SLAM monitoring mineshaft and field data collection methods.(2)The optimal scheme of Deformation monitoring of mineshaft is designed and obtained.Based on feasible monitoring schemes,the optimal control point deployment scheme was obtained through experimental research on control point deployment;In order to further improve the accuracy of mapping,a mineshaft monitoring and lowering platform was designed,and monitoring experiments were conducted on the mine wellbore.The experimental results met the minimum theoretical error deduction,indicating that the monitoring scheme was optimal.(3)Proposed methods for mineshaft point cloud data processing and deformation damage extraction.Explored the processing method for obtaining the central axis of the mineshaft from point cloud data;Established a process for extracting damaged areas based on centroid analysis algorithm;Explained the wellbore seepage feature extraction algorithm based on point cloud strength,providing an important method for extracting mineshaft tilt deformation and damage features.(4)Taking the main mineshaft of Niuerzhuang mine and the auxiliary shaft of Xin’an mine in Fengfeng mining area as examples,engineering application research was conducted.Not only did the inclined deformation and damage characteristics of the mineshaft be obtained,but also different monitoring methods used on site were discussed and analyzed.Applying laser SLAM to mineshaft monitoring can achieve good application results.There are 64 figures,10 tables and 108 references in this thesis.