Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III
CHAPTER 1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 State of Industry Research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.1 Research on Intelligent Underground Inspection Systems . . . . . . . . 3
1.2.2 Research on Intelligent Underground Transportation Systems . . . . . 5
1.2.3 Research on Underground Hoisting Systems . . . . . . . . . . . . . . . . . . 7
1.3 Content and Chapter Arrangement of This Book . . . . . . . . . . . . . . . . . . 10
CHAPTER 2
Research on Intelligent Inspection Technology and Equipment for Underground Mining Roadways in Metal Mines. . . . . . . . . . . . . . . . . . . . 11
2.1 Research on Information Mining in Production Roadways . . . . . . . . . . . . 12
2.1.1 Current Status of Working Roadway Inspection . . . . . . . . . . . . . . . 12
2.1.2 Analysis of Working Roadway Environment . . . . . . . . . . . . . . . . . . 14
2.2 Research on Intelligent Inspection Equipment for Underground Excavation Roadways in Metal Mines . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2.1 Overall Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.2 Development of Inspection UAV for Underground Working Roadways . . . . . . . . 22
2.2.3 Research on Autonomous Information Collection Based on UAVs . . 40
2.3 Research on Intelligent Inspection Methods for Underground Excavation Roadways in Metal Mines . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.1 Digital Map Construction Based on SLAM Laser Scanning. . . . . . . 43
2.3.2 3D Point Cloud Processing Based on SLAM Laser Scanning . . . . . . 45
2.3.3 Digital Map Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.4 Application Outcomes of Intelligent Drone Inspection . . . . . . . . . . . . . . . 48
2.4.1 On-Site Intelligent Inspection with UAV. . . . . . . . . . . . . . . . . . . . . 48
2.4.2 Intelligent Inspection Data Collection and Analysis . . . . . . . . . . . . 49
CHAPTER 3
Research on Intelligent Inspection Technology and Equipment for Underground Iron Transportation Systems in Metal Mines . . . . . . . . . . . 59
3.1 Potential Collision Object Recognition Model Library Construction . . . . 60
3.1.1 Research on Construction of Typical Database for Potential Collision Objects . . . . . . 60
3.1.2 Research on Building Potential Collision Object Recognition Models . . . 67
3.2 Research on Collision Avoidance and Warning for Underground Mine Locomotives . . . . . . 78
3.2.1 Construction of 5G-Based Edge Devices . . . . . . . . . . . . . . . . . . . . . 79
3.2.2 Real-Time Analysis of Mine Locomotive Data . . . . . . . . . . . . . . . . 80
3.3 Research on Curve Identification of Underground Mine Locomotive . . . . 81
3.3.1 Overview of the Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.3.2 Design of Curve Detection Method . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.3.3 Curve Recognition System Design . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.3.4 Curve Identification System Process . . . . . . . . . . . . . . . . . . . . . . . . 89
3.3.5 Curve Identification On-Site Application . . . . . . . . . . . . . . . . . . . . 91
3.4 Research on Track Wear Identification for Underground Mine Locomotives . .. . . 93
3.4.1 Design of Identification Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
3.4.2 Identification Device Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
3.4.3 Recognition Results Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.4.4 On-Site Recognition Application. . . . . . . . . . . . . . . . . . . . . . . . . . . 101
CHAPTER 4
Research on Intelligent Inspection Technologies and Equipment for Underground Hoisting Systems in Metal Mines . . . . . . . . . . . . . . . . . . . . 105
4.1 Intelligent Inspection Analysis of Shaft Bottom Equipment . . . . . . . . . . . 106
4.1.1 Target Analysis of Shaft Bottom Equipment. . . . . . . . . . . . . . . . . . 106
4.1.2 Overall System Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.2 Research on Wear Detection and Early Warning Analysis for Shaft Bottom Equipment ... 109
4.2.1 Research on Wear Detection and Early Warning Analysis for Shaft Bottom Guide Timbers. 109
4.2.2 Research on Wear Detection and Early Warning Analysis for the Tail Rope Isolation Device at the Shaft Bottom . . . . . . . . . 122
4.3 Research on Detection Methods for Other Shaft Bottom Equipment . . . . 131
4.3.1 Research on Automated Inspection Methods for the Tail Rope Tensioning Device at the Shaft Bottom . . . . . . . . . . . . . . . . . . . . . 131
4.3.2 Research on Automated Inspection Methods for the Sump Pump . . 137
4.4 Development of Automated Inspection Equipment for Shaft Bottom Equipment . . . . . . . 140
4.4.1 Hardware Development for Automated Inspection Equipment of Shaft Bottom Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
4.4.2 Software Development for Automated Inspection Equipment of Shaft Bottom Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
CHAPTER 5
Conclusion and Outlook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
