Research Status and Application Progress of SLAM Technology in Mine Intelligence

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.