Design of a Mobile 3D Laser SLAM Technology for Working Face Measurement
Abstract：To address the challenges of positioning and modeling in complex underground coal mine longwall faces where GPS signals are unavailable, this paper proposes a working face measurement scheme based on mobile 3D laser SLAM technology. By equipping a semi-solid-state LiDAR, an inertial measurement unit (IMU), and a high-precision target sphere, a tightly coupled multi-sensor fusion SLAM system (FAST-LIO2) is constructed, enabling efficient scanning and real-time mapping in unstructured tunnel environments. A field inspection robot equipped with the SLAM device dynamically scans along the working face, achieving centimeter-level positioning accuracy and real-time environmental perception through laser power monitoring, OTDR fault location, and GIS system integration, and data remote monitoring is realized through cloud interaction.
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Publication Date：2025-04-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 75-80 )