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徐中华,张鑫,付信凯,等. SLAM技术在矿井智能化的研究现状与应用进展[J]. 安徽工业大学学报(自然科学版),2024,41(3):294-304. doi: 10.12415/j.issn.1671-7872.24064
引用本文: 徐中华,张鑫,付信凯,等. SLAM技术在矿井智能化的研究现状与应用进展[J]. 安徽工业大学学报(自然科学版),2024,41(3):294-304. doi: 10.12415/j.issn.1671-7872.24064
XU Zhonghua, ZHANG Xin, FU Xinkai, CUI Zhixiang, JIANG Song. Research Status and Application Progress of SLAM Technology in Mine Intelligence[J]. Journal of Anhui University of Technology(Natural Science), 2024, 41(3): 294-304. DOI: 10.12415/j.issn.1671-7872.24064
Citation: XU Zhonghua, ZHANG Xin, FU Xinkai, CUI Zhixiang, JIANG Song. Research Status and Application Progress of SLAM Technology in Mine Intelligence[J]. Journal of Anhui University of Technology(Natural Science), 2024, 41(3): 294-304. DOI: 10.12415/j.issn.1671-7872.24064

SLAM技术在矿井智能化的研究现状与应用进展

Research Status and Application Progress of SLAM Technology in Mine Intelligence

  • 摘要: 智能采矿是矿井生产发展过程中的重要阶段,直接影响矿产企业的安全生产、矿产产量、经济效益和社会效益,随着矿井智能化水平的提高和相应政策的颁布,特别是我国智慧矿山和智能感知设备的快速发展和普及,矿井智能化地图构建和定位导航技术已成为重要的研究课题。回顾传统矿井地图绘制和定位技术的发展历程,结合矿井环境特点分析传统技术面临的挑战。介绍同步定位与建图(SLAM)技术在矿井智能化应用方面的优势,综述SLAM技术在非结构化复杂矿井工作环境下数字地图构建及无网络井下人、机/车定位导航的研究现状与应用进展。最后,对未来SLAM技术在矿井智能化领域中的发展趋势进行展望,即融合深度学习、三维重建与可视化、5G与云计算等。

     

    Abstract: Intelligent mining is an important stage in the development of mine production, which directly affects the safety production, mineral production, economic and social benefits of mineral enterprises. With the improvement of mine intelligence level and the promulgation of corresponding policies, especially the rapid development and popularization of intelligent mines and intelligent sensing equipment in China, mine intelligent map construction and positioning navigation technology has become an important research topic. The development process of traditional mine mapping and mine localization technology were reviewed. Combined with the characteristics of mine environment, the challenges faced by traditional technology were analyzed. The advantages of simultaneous localization and mapping (SLAM) technology and its application in mine intelligence were introduced. The research status and application progress of SLAM technology in unstructured complex underground working environment digital map construction and network-free underground human, machine/vehicle localization and mapping were summarized. Finally, the future development trend of SLAM technology in the field of mine intelligence was prospected, including the integration of deep learning, 3D reconstruction and visualization, 5G and cloud computing, etc.

     

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