《Applied Intelligent Inspection Systems in Underground Metal Mining》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。《Applied Intelligent Inspection Systems in Underground Metal Mining》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。《Applied Intelligent Inspection Systems in Underground Metal Mining》方法及设备对于其他金属地下矿同样具有适用性。

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

Chapter 1
　　Introduction
　　1.1 Overview
　　The use of mineral resources has greatly promoted the development of the social economy and the improvement of people’s living standards. In China， 80% of the raw materials for manufactured products and 95% of energy sources come from mineral resources; the exploration and utilization of mineral resources play a crucial role in China’s economic construction1. Mineral resources include metal minerals， non？metal minerals， energy minerals， and so on. They provide raw materials for the production of various industrial products， and whether it is infrastructure construction， mechanical manufacturing， or the electronics industry， all rely on the stable supply of mineral resources2. Energy mineral resources such as coal， oil， and natural gas remain the primary sources of energy supply in modern society. They not only provide power for industrial production but also serve as vital energy sources for residential life and transportation. Furthermore， mineral resources exert a significant impact on technological innovation and industrial upgrading. Specific mineral resources like rare earth elements (REEs) play a pivotal role in the R&D and production of high？tech products， driving technological advancement in fields such as electronics， communications， and aerospace3.
　　The mining methods of mineral resources are divided into two types: open？pit mining and underground mining. With the continuous development of the social economy， the demand for mineral resources among people is growing increasingly. However， current shallow mineral resources are increasingly depleted in China， where mineable and easily mineable resources can hardly meet the needs of social development？. To address this issue， the focus of mineral resource mining has gradually shifted from open？pit mining to underground mining. Under the enclosed conditions of mines， underground mining is highly vulnerable to threats such as water hazards， fire hazards， ground pressure， and dust; confined spaces often cause these risk factors to intertwine and superimpose， thereby amplifying the severity of accidents. According to surveys， over 80% of China’s total mineral output comes from underground mining？. However， due to the inherent limitations of the working environment specific to the underground mining industry， a relatively large proportion of positions in mineral production still fall into the category of hazardous and labor？intensive positions？. How to meet the needs of social development under the premise of ensuring the safe and efficient mining of resources is a challenge that every mining enterprise must face.
　　In recent years， to effectively curb the occurrence of major and extraordinarily serious mining accidents， protect the life safety of employees， comprehensively improve the overall governance efficiency of mine safety， and achieve high？quality development of mine safety， promoting the intelligent and safe production of mines has become an indispensable path for the development of the mining industry.
　　With the rapid development of technologies such as AI and unmanned driving， the intelligent construction of mines has become an inevitable trend in the development of the mineral resource exploitation industry. It is leading to the transition of mining modes from inefficient， labor？intensive underground operations to efficient， intelligent， and unmanned operations. Intelligent mines have evidently emerged as a new model for future mine construction？. In the process of constructing intelligent mines， mining enterprises should adopt and integrate various new technologies， new meanings， and new methods with a proactive and open attitude， and build smart mines that meet the development needs of the new era. Only in this way can they effectively reduce production costs and ensure mine safety in production？？？. With the rapid development of the social economy， the demand for mineral resources from all walks of life is increasing day by day1？. As a result， the scale of underground mining has gradually expanded due to the growing demand for mineral resources， which undoubtedly puts forward higher requirements for the performance and efficiency of underground fully unmanned mining technology， underground mine transportation， and related intelligent inspection.
　　“Underground fully unmanned mining and inspection” represents the advanced stage of smart mines and serves as an important means to achieve the intrinsic safety of underground mines. At present， some mines have achieved underground unmanned mining in local areas， but there are no cases of full？process unmanned inspection yet. Underground fully unmanned inspection involves long processes， multiple links， and complex technologies. Research on fully unmanned underground inspection holds high academic value， economic value， and strategic value. With the goal of achieving the intrinsic safety of underground mines， it is the indispensable pa