任助理, 朱红洋, 袁瑞甫,等.三维激光扫描技术在地下矿山中的应用综述与展望[J].河南理工大学学报（自然科学版）,2025,44(3):89-100.

REN Z L, ZHU H Y, YUAN R F, et al. Review and prospects of 3D laser scanning technology in underground mining[J]. Journal of Henan Polytechnic University(Natural Science) , 2025, 44(3): 89-100.

三维激光扫描技术在地下矿山中的应用综述与展望

任助理1,2,3, 朱红洋1, 袁瑞甫1,3, 王伸1,3

1.河南理工大学 能源工程与技术学院，河南 焦作  454000；2.河南省矿产资源绿色高效开采与综合利用重点实验室，河南 焦作  454000；3.煤炭安全生产与清洁高效利用省部共建协同创新中心，河南 焦作  454000

摘要: 意义  为了解三维激光扫描技术在地下矿山领域中的研究进展，探讨其在实时监测、安全管理和精准采矿等方面的应用，并分析移动式激光扫描（MLS）与地面式激光扫描（TLS）技术在不同矿山环境中的优势，以便能够更好地服务地下矿山开采。通过检索中外文数据库，综述了学者们近年来在三维激光点云技术及其在矿山领域中的应用研究成果，探讨了该技术的研究现状和未来发展方向。  进展  结果表明，三维激光扫描技术在地下矿山的多个领域发挥了关键作用，特别是在快速三维建模、岩体结构面识别、巷道监测、支护质量评价、采空区探测、定位导航和数字矿山建设等方面。  结论与展望 尽管三维激光扫描技术展现了强大的潜力，但在实际应用中仍面临一些挑战。首先，三维激光扫描获取的数据量庞大，如何高效处理和分析数据，尤其是在实时动态监测和大规模数据处理方面，仍是技术发展的难点。其次，矿山环境复杂多变，恶劣的工作条件对激光扫描设备的性能和稳定性提出了更高要求，如何保证设备在地下矿山环境中的适应性和耐用性是技术发展的瓶颈之一。最后，如何实现多传感器融合技术，进一步提高数据采集的精度和全面性，也是当前研究的重点。

关键词:地下矿山;三维激光扫描;三维点云;数字矿山;巷道监测;定位导航

doi:10.16186/j.cnki.1673-9787.2024070014

基金项目:国家自然科学基金资助项目（52204168）；河南省矿产资源绿色高效开采与综合利用实验室重点项目（KCF2201）；河南省科技攻关计划项目（242102320210）

收稿日期:2024/07/02

修回日期:2025/02/15

出版日期:2025-04-18

Review and prospects of 3D laser scanning technology in underground mining

REN Zhuli1,2,3, ZHU Hongyang1, YUAN Ruifu1,3, WANG Shen1,3

1.School of Energy Science and Engineering， Henan Polytechnic University， Jiaozuo  454000， Henan， China；2.Henan Key Laboratory for Green and Efficient Mining & Comprehensive Utilization of Mineral Resources， Jiaozuo  454000， Henan， China；3.Collaborative Innovation Center of Coal Work Safety and Clean High Efficiency Utilization， Jiaozuo  454000， Henan， China

Abstract: Significance This study reviews the research progress of 3D laser scanning technology in underground mining， exploring its applications in real-time monitoring， safety management， and precision mining. It also analyzes the advantages of Mobile Laser Scanning （MLS） and Terrestrial Laser Scanning （TLS） technologies in different mining environments to better serve underground mining operations. With the accelerated process of intelligent underground mining， 3D laser scanning technology， known for its ability to provide high-precision 3D spatial data， has become an important tool in areas such as underground mine safety monitoring， ore body modeling，  geological exploration， and mine digital management. By retrieving literature from both domestic and international databases， this paper reviews recent advancements in 3D laser point cloud technology and its applications in mining， discussing the current state of research and future development directions.  Progress  The results show that 3D laser scanning technology plays a key role in multiple areas of underground mining， particularly in rapid 3D modeling， rock mass structure identification， tunnel monitoring， support quality evaluation， goaf detection， positioning and navigation， and digital mine construction. Conclusions and Prospects  Although 3D laser scanning technology has demonstrated significant potential， several challenges remain in its practical application. First， the large volume of data generated by 3D laser scanning presents challenges in efficient processing and analysis， especially in real-time dynamic monitoring and large-scale data processing. Second， the complex and variable mining environment， coupled with harsh working conditions， places higher demands on the performance and stability of laser scanning equipment. Ensuring the adaptability and durability of the equipment in underground mining environments is one of the key technological challenges. Finally， achieving multi-sensor fusion technology to further enhance data accuracy and comprehensiveness is a focal point of current research.

Key words: underground mining; 3D laser scanning; 3D point cloud; digital mine; tunnel monitoring; positioning and navigation