Research on monitoring method of shaft tilt deformation based on SLAM

Abstract

In view of the problems existing in traditional shaft safety monitoring methods such as low efficiency(need monitoring after production stop), less data and large error, a method of monitoring shaft tilt deformation with laser SLAM (Simultaneous Localization and Mapping) technology was proposed. The main shaft of Niuerzhuang Mine of Fengfeng Group was taken as the research object, the monitoring plan was designed and the laser SLAM technology was used to perceive the internal information of shaft. The K′-means algorithm was adopted to extract the point cloud of shaft boundary, the Markov mathematical model was established to get the center of point cloud slice, and then to the shaft center datum line was set up, the shaft tilt deformation was analyzed based on integral and subsection methods. The results showed that the overall vertical inclination of the shaft was 1.99‰, the vertical inclination of upper shaft(0-100 m away from the shaft head) was 3.06‰, and the vertical inclination of lower shaft(150-205 m away from the shaft head) was 1.85‰. Compared with the traditional monitoring method, the working time of laser SLAM can be shortened from one day or even longer to one hour. The monitoring work can be completed within the maintenance time of the shaft cage, and the work efficiency is significantly improved without stopping production.

Keywords

• shaft tilt deformation
• three dimensional laser scanning
• slam technology
• monitoring method
• point cloud processing