书名：Applied Intelligent Inspection Systems in Underground Metal Mining
定价：198.0
ISBN：9787030859181
作者：…福明,单迪,赵凌羽,纪雅溟
版次：1
出版时间：2026-06

内容提要：

本书围绕金属矿井下采掘巷道、井下铁运系统、井下提升系统等矿山生产安全关键环节，开展智能巡检方法、无人巡检设备与系统研究：（1）从井下采掘巷道智能巡检角度，提出了一种具备超长续航能力的自主巡检无人机系统，能够适应井下复杂多变的地形，实时自主采集井下巷道环境、气体浓度等各种关键信息，实现井下工作巷道高精度地图构建与实时定位，为井下巷道自主巡检导航、设备调度、安全监测发挥基础性作用。（2）从井下铁运系统智能巡检角度，提出了地下矿机车防碰撞预警与紧急制动策略，能够对井下无人机车前方碰撞体、路面障碍物、道路转向情况进行响应；建立机车行驶轨道磨耗模型，对超过磨耗阈值的情况进行报警，保障地下矿山安全高效生产。（3）从井下提升系统智能巡检角度，提出了井下提升系统智能巡检解决方案。研究井下提升系统重点装置的自动检测方法及自动巡检设备，实现自动检测巡检环境的安全；开发井底装置智能监测系统，有效识别井底装置状态，确保井底装置的安全可靠。本书提出的智能巡检技术研究均依据某一金属地下矿的真实数据，进行现场实际应用与验证，可实现金属矿山井下智能巡检任务。本书方法及设备对于其他金属地下矿同样具有适用性。

目录：
Contents
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 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
Contents VII
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