高湿多尘采空区三维激光探测数据误差分析与修正

针对地下金属矿山高湿、多尘复杂环境导致采空区三维激光探测结果失真的问题，研制了采空区复杂环境模拟装置，进行了64组不同相对湿度、粉尘质量浓度条件下的点云数据误差分析与修正实验.结果表明，随相对湿度和粉尘质量浓度增大，点云平均误差比均呈“S”型趋势增大;当粉尘质量浓度介于30.0~85.0mg/m³、相对湿度介于76.0%~85.0%时，点云平均误差比呈幂指数增长;适合采空区三维激光探测的粉尘质量浓度为0~5.6mg/m³，相对湿度为0~49.0%.同时，提出了高湿、多尘探测环境下的点云数据误差修正公式，并应用于福建某金矿复杂采空区的精准探测工程中，修正后的采空区边界信息更加符合实际情况.

Error Analysis and Correction of 3D Laser Detection Data for High-Humidity and Dusty Goafs

As the high-humidity， dusty and complex environment leads to the distortion of 3D laser detection results for goafs in the underground metal mines， a device is developed to simulate the complex environment of goafs and to carry out 64 groups of point cloud error analysis and modification experiments with different dust concentrations and relative humidity. It could be observed that with the increase of dust concentration and relative humidity，the average error ratio of point cloud data showed an "S" trend. In particular，under the condition of 30.0mg/m³≤ρ≤85.0mg/m³ and 76.0%≤w≤85.0%，the error growth rate of point cloud data increases exponentially. It can be concluded that the ρ ranging from 0 to 5.6mg/m³ and the w ranging from 0 to 49.0% are favorable for the laser detection of goaf. In addition，the error correction formulas of point cloud are put forward for high humidity， dusty and complex environment. After the application of test results to a gold mine in Fujian Province，the revised parameters such as the elevation， the volume and the exposed area of the goaf are more practical，which proves the accuracy of detection data.