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Article(id=1322904639762477866, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322844250153275555, articleNumber=null, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1734537600000, receivedDateStr=2024-12-19, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1793334644498, onlineDateStr=2026-10-30, pubDate=1748102400000, pubDateStr=2025-05-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793334644498, onlineIssueDateStr=2026-10-30, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793334644498, creator=13701087609, updateTime=1793334644498, updator=13701087609, issue=Issue{id=1322844250153275555, tenantId=1146029695717560320, journalId=1225396423026438145, year='2025', volume='45', issue='5', pageStart='1', pageEnd='288', issueExtLink='null', onlineDate='null', pubDate='1748102400000', pubDateStr='2025-05-25', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793320246494, creator='13701087609', updateTime=1793320246494, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext=null, issueFiles=null, downloadFileDto=null}, startPage=223, endPage=230, ext={EN=ArticleExt(id=1322904641352119083, articleId=1322904639762477866, tenantId=1146029695717560320, journalId=1225396423026438145, language=EN, title=Research on Borehole Layout for Open-Pit Mine Based on UAV-LiDAR Technology, columnId=null, journalTitle=Mining Research and Development, columnName=null, runingTitle=null, highlight=null, articleAbstract=

In order to solve the problems of low efficiency, high labor cost, and inability to meet the large-scale drilling requirements of traditional RTK-line hole layout methods, the application of UAV-LiDAR technology in open-pit mines was explored. Taking the Southern Open-pit Coal Mine as the research background, comparative experiments were conducted with traditional RTK-line hole layout method in terms of layout error, operational efficiency, environmental adaptability, and economy. The results of field testing and data analysis show that the UAV-LiDAR hole layout technology can reduce the hole layout error from 17.4 cm to 0.1 cm, improve the operation coverage ability by 200%, and save a cumulative operation cost of 1.931 million yuan within 10 years. Meanwhile, it has an outstanding applicability in dealing with complex terrain, high temperature environments, and night work. Furthermore, this technology can provide precise coordinates for the collaborative operation of intelligent drilling machines, hole inspection robots and other equipment, promote the development of intelligent blasting, and provide a key technical support for the intelligent process of mining, with broad application prospects.

, authors=Fei GAO1, Hui CHEN1, Xiujun WU1, Wenbin ZHOU2, Guohui NIAN2, Zhi YU3, authorsList=Fei GAO, Hui CHEN, Xiujun WU, Wenbin ZHOU, Guohui NIAN, Zhi YU, authorCompany=null, correspAuthors=Hui CHEN, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1322904643528962878, articleId=1322904639762477866, tenantId=1146029695717560320, journalId=1225396423026438145, language=CN, title=基于无人机激光雷达技术的露天矿炮孔布置方法研究, columnId=1226462295946085268, journalTitle=矿业研究与开发, columnName=矿山机电与矿业智能化, runingTitle=null, highlight=null, articleAbstract=

为解决传统的RTK线放样布孔方法效率较低、人工成本较高、无法满足大规模布孔需求的问题，探索了无人机激光雷达布孔技术在露天矿的应用，以南露天煤矿为研究背景，分别从布孔误差、作业效率、环境适应性和经济性等方面与传统RTK线放样布孔方法开展对比试验。实地测试及数据分析结果表明，无人机激光雷达布孔技术可将布孔误差由17.4 cm缩小至0.1 cm，作业覆盖能力提高了200%，10年内累计作业成本可节省193.1 万元，且在应对复杂地形、高温环境以及夜晚作业方面具有突出的适用性。同时，该技术可为智能钻机、验孔机器人等设备协同作业提供精准坐标，推动智能爆破发展，为矿山开采智能化进程提供关键技术支撑，具有广阔的应用前景。

, authors=高飞1, 陈辉1, 伍秀君1, 周文斌2, 年国辉2, 喻智3, authorsList=高飞, 陈辉, 伍秀君, 周文斌, 年国辉, 喻智, authorCompany=null, correspAuthors=陈辉, authorNote=

高飞（1999—），男，河南郑州人，硕士研究生，主要从事露天台阶爆破方面的研究。E-mail:

, correspAuthorsNote=
陈辉（1985—），男，新疆伊犁人，博士，副教授，主要从事矿山爆破及安全方向的研究与教学工作。E-mail:
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高飞（1999—），男，河南郑州人，硕士研究生，主要从事露天台阶爆破方面的研究。E-mail:

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高飞（1999—），男，河南郑州人，硕士研究生，主要从事露天台阶爆破方面的研究。E-mail:

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Current situation and prospect of intelligent on-site mixed explosive vehicles[J/OL].Blasting:1-8[2024-12-13].http://kns.cnki.net/kcms/detail/42.1164.tj.20240621.1455.006.html., articleTitle=Current situation and prospect of intelligent on-site mixed explosive vehicles, refAbstract=null), Reference(id=1322904656539693994, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322904639762477866, doi=null, pmid=null, pmcid=null, year=2024, volume=24, issue=5, pageStart=124, pageEnd=128, url=null, language=null, rfNumber=[17], rfOrder=32, authorNames=曹洋, 马连成, 柴青平, journalName=采矿技术, refType=null, unstructuredReference=曹洋，马连成，柴青平，等.金属露天矿智能爆破系统设计[J].采矿技术，2024，24(5): 124-128., articleTitle=金属露天矿智能爆破系统设计, refAbstract=null), Reference(id=1322904656606802859, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322904639762477866, doi=null, pmid=null, pmcid=null, year=2024, volume=24, issue=5, pageStart=124, pageEnd=128, url=null, language=null, rfNumber=[17], rfOrder=33, authorNames=CAO Yang, MA Liancheng, CHAI Qingping, journalName=Mining Technology, refType=null, unstructuredReference=CAO Yang, MA Liancheng, CHAI Qingping, et al. 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caption=无人机激光雷达布孔多设备互通应用前景, figureFileSmall=tQHmjzcY01zCon3g/ohkAw==, figureFileBig=8KwIExAx9wdnXf0keBc2RA==, tableContent=null), ArticleFig(id=1322904651389088640, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322904639762477866, language=EN, label=Table 1, caption=

Comparison of operational efficiency between two blast hole layout methods

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布孔方法外业时间/min内业时间/min作业覆盖能力/(孔/min)布孔误差/cm风险区域作业时间/min
无人机激光雷达20+1020+207.140.10
RTK线放样100+80302.3817.4100
), ArticleFig(id=1322904651456197505, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322904639762477866, language=CN, label=表1, caption=

两种布孔方法作业效率对比

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布孔方法外业时间/min内业时间/min作业覆盖能力/(孔/min)布孔误差/cm风险区域作业时间/min
无人机激光雷达20+1020+207.140.10
RTK线放样100+80302.3817.4100
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基于无人机激光雷达技术的露天矿炮孔布置方法研究
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高飞 1 , 陈辉 1 , 伍秀君 1 , 周文斌 2 , 年国辉 2 , 喻智 3
矿业研究与开发 | 矿山机电与矿业智能化 2025,45(5): 223-230
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矿业研究与开发 |矿山机电与矿业智能化 2025 , 45 (5) : 223 -230
基于无人机激光雷达技术的露天矿炮孔布置方法研究
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高飞1 , 陈辉1 , 伍秀君1, 周文斌2, 年国辉2, 喻智3
作者信息
  • 1.新疆大学 地质与矿业工程学院，新疆　乌鲁木齐　830047
  • 2.昌吉雪峰爆破工程有限公司，新疆　昌吉回族自治州　831500
  • 3.福州大学 紫金地质与矿业学院，福建　福州　350116
通讯作者:
陈辉（1985—），男，新疆伊犁人，博士，副教授，主要从事矿山爆破及安全方向的研究与教学工作。E-mail:
作者简介:

高飞（1999—），男，河南郑州人，硕士研究生，主要从事露天台阶爆破方面的研究。E-mail:

Research on Borehole Layout for Open-Pit Mine Based on UAV-LiDAR Technology
Fei GAO1 , Hui CHEN1 , Xiujun WU1, Wenbin ZHOU2, Guohui NIAN2, Zhi YU3
Affiliations
  • 1.School of Geological and Mining Engineering, Xinjiang University, Urumqi, Xinjiang 830047, China
  • 2.Changji Xuefeng Blasting Engineering Co., Ltd., Changji Hui Autonomous Prefecture, Xinjiang 831500, China
  • 3.Zijin School of Geology and Mining, Fuzhou University, Fuzhou, Fujian 350116, China
出版时间: 2025-05-25
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为解决传统的RTK线放样布孔方法效率较低、人工成本较高、无法满足大规模布孔需求的问题，探索了无人机激光雷达布孔技术在露天矿的应用，以南露天煤矿为研究背景，分别从布孔误差、作业效率、环境适应性和经济性等方面与传统RTK线放样布孔方法开展对比试验。实地测试及数据分析结果表明，无人机激光雷达布孔技术可将布孔误差由17.4 cm缩小至0.1 cm，作业覆盖能力提高了200%，10年内累计作业成本可节省193.1 万元，且在应对复杂地形、高温环境以及夜晚作业方面具有突出的适用性。同时，该技术可为智能钻机、验孔机器人等设备协同作业提供精准坐标，推动智能爆破发展，为矿山开采智能化进程提供关键技术支撑，具有广阔的应用前景。

无人机激光雷达  /  爆破布孔  /  露天矿  /  智能爆破  /  多智能设备互通

In order to solve the problems of low efficiency, high labor cost, and inability to meet the large-scale drilling requirements of traditional RTK-line hole layout methods, the application of UAV-LiDAR technology in open-pit mines was explored. Taking the Southern Open-pit Coal Mine as the research background, comparative experiments were conducted with traditional RTK-line hole layout method in terms of layout error, operational efficiency, environmental adaptability, and economy. The results of field testing and data analysis show that the UAV-LiDAR hole layout technology can reduce the hole layout error from 17.4 cm to 0.1 cm, improve the operation coverage ability by 200%, and save a cumulative operation cost of 1.931 million yuan within 10 years. Meanwhile, it has an outstanding applicability in dealing with complex terrain, high temperature environments, and night work. Furthermore, this technology can provide precise coordinates for the collaborative operation of intelligent drilling machines, hole inspection robots and other equipment, promote the development of intelligent blasting, and provide a key technical support for the intelligent process of mining, with broad application prospects.

UAV-LiDAR  /  Blasting hole layout  /  Open-pit mine  /  Intelligent blasting  /  Multi intelligent device interoperability
高飞, 陈辉, 伍秀君, 周文斌, 年国辉, 喻智. 基于无人机激光雷达技术的露天矿炮孔布置方法研究. 矿业研究与开发, 2025 , 45 (5) : 223 -230 .
Fei GAO, Hui CHEN, Xiujun WU, Wenbin ZHOU, Guohui NIAN, Zhi YU. Research on Borehole Layout for Open-Pit Mine Based on UAV-LiDAR Technology[J]. Mining Research and Development, 2025 , 45 (5) : 223 -230 .
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0　引言
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随着全球矿山开采技术的不断发展，传统爆破作业方法面临着日渐复杂的挑战，尤其是在爆破布孔过程中，精度、效率以及人工成本成为制约矿山作业优化的主要瓶颈。精确的爆破布孔是确保矿山爆破效果、保障矿山安全的关键环节[1]。尽管传统的实时动态载波相位差分(Real-time kinematic, RTK)线放样技术[2]能够提供精确的布孔结果，但该方法在实际应用中依然存在人为导致的误差。在大规模矿山爆破作业中[3-4]，传统RTK技术对人员的依赖较大，且其施工流程复杂、工时较长，尤其是在复杂地形[5]和不规则矿体中，精准布孔变得尤为困难。因此，获取高精度的爆破孔坐标，成为矿山爆破作业智能化发展的核心问题。
近年来，随着无人机技术和激光雷达(LiDAR)技术[6]的迅速发展，基于无人机的激光雷达扫描技术在矿山开采领域展现了巨大的潜力。王昆等[7]通过大量的文献总结出无人机航测技术具备成本低廉、机动性强、时效性强、高精度等优势，可应用于露天矿生产管理、尾矿库安全监测、灾害应急救援、矿区环境监测、边坡灾害防治方面。伊孜哈尔等[8]分析了无人机在南露天煤矿进行矿山测绘、矿山监测、环境保护等方面应用效果。虽然这些研究通过综述和应用研究总结了无人机在露天矿山的使用优势，但未探讨无人机在露天矿穿孔爆破方面的应用前景。
无人机激光雷达技术搭载激光雷达系统进行空间数据采集，能够高效、精准地获取三维点云数据[9]。刘广新等[10]为解决露天矿土石方剥离量统计不精确、测量效率低与作业不安全的问题，基于机载激光雷达技术，提出一种通过两期数字高程模型(Digital Elevation Model, DEM)数据叠加，进行土石方剥离量统计的方量计算方法，提高了土石方剥离量统计效率。激光雷达扫描技术的优势不仅在于其较传统方法显著提升了数据采集速度，还在于其能够在复杂地形、危险区域等传统技术难以涉足的环境中提供高精度的空间数据支持。杨军等[11]认为可以根据爆破区域边界线，自动布置边界线内的爆破孔，但爆破区域往往不是理想平面，这种布孔方法使爆破区域中间的炮孔有高程误差，导致其他智能设备无法准确作业。为消除高程误差，需要技术人员使用RTK逐孔获取高程数据，使得作业效率下降与作业成本提高。
无人机搭载的激光雷达系统可在短时间内完成对爆破作业区域的全面扫描，并通过点云数据处理，生成准确的三维地形模型，消除高程误差。但至今为止，无人机激光扫描技术在爆破作业过程中的应用较少。
相比于传统的RTK测量打点[12-13]，无人机激光扫描技术能够在更短的时间内完成大范围区域的扫描布孔。无人机的飞行能力结合激光雷达的扫描精度使得布孔不仅更加精准，而且能够减少人工作业，进而降低作业成本。
本研究旨在探索无人机激光雷达技术在露天矿山大规模爆破布孔中的应用，并通过与传统RTK线放样技术进行比较，得出无人机技术在布孔作业中的精度、效率及成本等方面的优势。
1　无人机激光扫描布孔方法原理、设备及流程
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1.1　无人机激光扫描原理
无人机搭载的激光雷达系统利用激光光束向地面或其他物体发射脉冲激光。激光束撞击目标物体后，部分光线会被物体反射回来。反射的激光经光学部件发射至光学传感器，将光信号转换至点云数据，之后基于机载RTK信号、飞行信息、图像RGB信息赋值点云数据，最后将点云数据储存至MicroSD卡，完成一次扫描。在飞行扫描过程中，通过控制无人机飞行轨迹，与激光雷达俯仰、横滚、平移，扫描其他工作区域。具体流程如图1所示。
1.2　无人机激光扫描系统构成
无人机激光雷达系统由大疆M350无人机与禅思L2激光雷达扫描系统组成，如图2所示。大疆M350无人机作为飞行平台，具备高负载能力和出色的稳定性，适用于复杂环境下的高精度任务。无人机配备的RTK与飞行控制系统，能够确保飞行中的精确定位和姿态控制，从而保证激光雷达系统采集数据的空间精度。
禅思L2激光雷达系统则负责在飞行过程中进行高精度的三维扫描，通过激光脉冲测距技术生成高分辨率的点云数据。雷达扫描精度为0.2 cm，能够快速且高效地获取目标区域的地形数据。
大疆M350无人机提供了飞行平台，确保了扫描任务的广泛覆盖，而禅思L2激光雷达系统则通过高频率的数据采集和实时数据处理，提供了详细的三维点云数据。两种设备组合在提高数据采集效率和精度方面具有显著优势，为后续地形建模与爆破布孔设计提供了可靠的基础。
1.3　无人机激光雷达扫描布孔流程
完整无人机激光雷达布孔流程如图3所示。首先，在爆破工作区的4个角落设置RTK控制点，确保采集精确的坐标数据。通过RTK系统，获取WGS84 (World Geodetic System—1984 Coordinate System)转BJZ54(北京54坐标系)的转换七参数，为后续点云坐标转换提供参数基础。
将RTK设备获取的控制点数据导入奥维地图软件，并根据实际地形和爆破要求，圈定无人机的飞行区域。通过制作KML文件，并将其导入无人机遥控器，确保飞行路径与工作区域的精准匹配。
无人机在确定的飞行区域内执行激光雷达扫描任务。激光雷达系统快速采集目标区域的三维点云数据。
采集的点云数据导入大疆智图软件进行初步重建，生成完整的三维点云模型。之后，将数据导入LiDAR360进行去噪处理，以提升数据的精度。
处理后的点云数据导入3DMine进行数字地形建模(Digital Terrain Model, DTM)，再现爆破区域的地形特征。
借助3DMine中的爆破设计模块，根据爆破孔排距要求进行炮孔布置。炮孔布置完毕后，生成所有炮孔的坐标报告，以便联动其他智能设备。
2　两种布孔方法综合对比分析
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为验证无人机激光雷达布孔方法的可行性，本研究分别从布孔误差、作业效率、环境适应性和经济性方面将其与传统的RTK线放样布孔方法进行了对比试验。
爆破布孔试验场地位于新疆昌吉回族自治州准东经济技术开发区南露天煤矿。南露天煤矿是一个千万吨级露天煤矿，也是我国单坑年产量最大的露天煤矿，同时也是国家一级安全生产标准化煤矿[11]。南露天煤矿2024年开采量为4×107 t, 2025年计划扩产至6×107 t，年爆破方量在5.5×107 m3左右。若年产量扩产至6×107 t，年爆破剥离量按等比例计算为8.25×107 m3，爆破剥离量的提高对作业流程和作业效率提出了更高的要求。现行的RTK线放样布孔技术作业效率低，若扩大产能，势必会提高作业人数与作业配套设备使用量，使得整体爆破作业成本提高。为解决这些问题，本研究探索了无人机激光雷达扫描布孔方法，以期在提高布孔效率、布孔精度的同时，减少布孔作业人力成本。
2.1　布孔误差对比
在实际布孔对比中，将RTK线放样布置的炮孔点与无人机激光雷达布置的炮孔点导入到3DMine软件中进行对比。对比结果显示，两组布孔点未完全重合，存在1.0~1.5 m的距离。这一距离可能源于第一排炮孔的选取，第一排炮孔沿着自由面土挡布置，在RTK线放样布孔中，技术人员在工作区域沿着自由面土挡布孔，而无人机激光扫描建模后，需要用鼠标沿土挡设置折线，因此第一排炮孔存在1.0~1.5 m偏差。
RTK线放样布孔与无人机激光雷达布孔误差对比如图4所示，两种布孔方法相邻点的间距结果显示：在孔距为8 m的情况下，RTK线放样布孔的相邻点间距为8.174 m，误差为0.174 m。由于RTK线放样布孔需要技术人员跟随手薄指示放置RTK，这一误差在传统RTK线放样布孔方法中属于正常范围。无人机激光雷达布孔的相邻点间距为8.001 m，误差为0.001 m。对比结果表明，无人机激光雷达系统在布孔过程中的精度较高，有效减少了人工操作导致的误差。
2.2　作业效率对比
在RTK线放样布孔过程中，需要开车前往布孔工作区域，来回时间约80 min，工程技术人员布置500个炮孔的时间约100 min，而无人机飞抵工作区域不受矿山道路的限制，来回仅仅需要20 min，并且扫描工作区域只需要10 min，大大缩短了外业作业时间。在内业上，无人机前期飞行区域规划需要20 min，后期模型重建布孔需要20 min，相较于RTK线放样布孔，需要多使用10 min。引入作业覆盖能力来综合评价布孔效率，作业覆盖能力计算方法如式(1)所示：
式中：C为作业覆盖能力；T外为外业作业时间；T内为内业作业时间；N为布孔数量（南露天矿单日布孔500孔以上约15 次/月，故式中取500）。
基于内外业时间之和，计算得到RTK每分钟布置2.38孔，无人机每分钟布置7.14孔。无人机激光扫描布孔方法相比RTK线放样布孔方法，布孔效率提升了200%。
两种布孔方法作业效率对比见表1。将表1各列数据进行归一化处理，绘制图5，进行更直观的对比。可以看出在外业时间、风险区作业时间、布孔误差3个负面指标上，无人机激光雷达布孔方法表现更好。
另外，RTK打点现场作业时，可能涉及无人设备区与近边帮区域，这会带来一定程度的作业风险，而无人机激光雷达布孔不存在作业风险，能保障工程技术人员的安全。
2.3　环境适用性与经济成本对比
图6以直观的形式展现了无人机激光雷达布孔方法与RTK线放样布孔方法在多种复杂环境条件下作业效率方面存在的差异。图6中，绿色字体代表对应方法的作业效率不会受到相应环境因素的影响，蓝色字体则意味着对应作业方法的效率会出现一定程度的降低，而黑色字体明确表示在相应环境下该方法无法开展作业，交界处六级风及以下环境，二者都能正常作业，不受干扰(颜色标识见电子版)。
从图6中可以看到，无人机激光雷达布孔方法在应对复杂地形、高温环境以及夜晚作业等方面表现出了突出的适用性。在这些环境条件下，相较于人工操作易受环境干扰，出现作业效率降低甚至无法作业的情况，无人机凭借其独特优势，能够有效克服此类难题，保持稳定的作业状态。然而，由于无人机激光雷达布孔方法依赖于飞行设备稳定性与电力设备提供动力支持，导致无人机在遭遇六级风以上的强风天气以及雨雪天气这类极端的环境条件时，往往难以正常开展作业。
为准确对比两种布孔方法的经济成本，假定年布孔250 d，单次布孔作业需布置500 孔。
RTK线放样布孔方法，成本主要涵盖设备成本、软件成本、人工成本、低值易耗品。其设备成本涵盖车辆购置费用(2×105 元）与RTK设备本身的购买成本(1.1×104 元），二者共计2.11×105 元。软件成本体现为逐年累计的AutoCAD租用费用，每年软件使用成本为1.1×104 元且逐年累计。在人工成本方面，由于RTK线放样布孔通常需要2名操作人员协同作业，按照每人每年约2×105 元的人工成本计算，每年人工成本设定为4×105 元。另外还应考虑低值易耗品，RTK线放样布孔时，需要制作标志物。每个标志物需要人工将石子放入预先准备的红色塑料袋，假设每个袋子0.1 元，布置500个炮孔的标志物成本为50 元，另外，每次驱车往返工作区域平均30 km，假设作业车油耗为百公里10L，每升油取7 元，单次布孔需油费需21 元，假设每年布孔250 d，低值易耗品每年损耗1.775×104 元，十年共消耗1.775×105 元。由此，RTK的年累计成本呈现出显著的增长态势，从第1年的6.397 5×105 元起，逐步稳步攀升，直至第10年达到4.338 75×106 元。
对于无人机激光雷达布孔方法，其设备成本由无人机机体(6×104 元）、激光雷达(7.5×104 元）、电池(1.5×104 元)以及作业车辆(2×105 元)等共同构成，总计3.5×105 元。软件方面，LiDAR360(2.5×104 元）、大疆智图(2.5×104 元）、3Dmine(1.5×105 元)软件的综合使用成本约为2×105 元。值得强调的是，本次设备成本核算中的作业车辆，是因无人机激光雷达布孔前期需驱车至现场，以RTK获取椭球与平面坐标转换七参数，且有时会遇到工作区域距离起飞点过远的情况，需要驱车前往工作区域附近进行勘测。在实际操作时，可直接向矿方获取该参数，既能削减获取成本，又利于矿内坐标系统一，提升作业精准性与协同性。基于上述原因，RTK打点获取七参数的成本可以省去，无人机绝大部分外业作业无需人员驾车前往现场，仅需一名作业人员即可完成全部内外业作业，该单人工资每年为2×105 元。在低值易耗品方面，无人机激光扫描布孔方法不需要用到标志物，仅需作业后进行充电，大疆M350电池电量263.2 W⋅h，按照工业电费0.7 元/（kW·h）计算，单次充电需0.18 元，假设每年充电250次，需48 元，但电池涉及充放电次数问题，大疆建议400次充放电进行更换，以十年计算，共计充放电2 500 次，需6.25块电池，按7块电池、每块电池2 500 元计算，共需要1.75×104 元。相应地，无人机的年总计成本从第1年的7.517 5×105 元开始，以相对较为缓和的幅度逐渐增长至第10年的2.567 5×106 元。
对比这两种方法的成本变化情况，在第1年时，无人机激光雷达布孔方法的总投入高于RTK线放样布孔方法，相差1.12×105 元。然而，随着时间的不断推移，RTK线放样布孔成本由于其人工成本的快速持续增长而急剧上升，到了第10年，其累计成本超出无人机激光雷达布孔成本1.931×106 元，具体如图7所示。
综上所述，在布孔作业适用性与成本方面，无人机激光雷达布孔可以有效适应各种恶劣情况，以十年计，可节省布孔成本1.931×106 元。
2.4　无人机炮孔坐标在多智能设备互通中的应用
无人机激光雷达系统依托其高精度的数据采集能力，为布置的炮孔提供了精确的坐标。坐标数据不仅在爆破工程实践中占据核心地位，更在智能化矿山作业体系下，成为多类智能设备协同联动的关键基石，展现出极具潜力的多互通应用前景。
如图8所示，在当下的应用场景中，无人机激光雷达布孔所获取的高精度坐标数据已成功驱动多个智能设备间的高效协同运作。在布孔阶段，借助对爆破区域全面且细致的勘查，系统得以精确规划布孔方案并导出详尽的炮孔参数。随后将这些炮孔坐标数据导入智能钻机的作业控制系统，使智能钻机基于预设的孔位规划信息自主开展钻孔作业。在钻孔进程中，智能钻机凭借传感器数据，调控钻孔的深度与角度[14-15]。在传统钻机作业时，需要一人驾驶钻机，一人观察钻头是否落在原定孔位。而智能钻机可实现自动驾驶、自动寻孔，不需要人工操作，大大降低了钻孔的人工成本。智能钻机与无人机激光雷达系统间构建的数据交互链路，保障了在整个爆破区域钻孔作业的高效性、精准性和安全性，优化了钻孔工序的作业效能与质量水准。
钻孔工序完成后，验孔机器人投入工作。验孔机器人凭借激光扫描获取的高精度炮孔坐标信息，对已完成的钻孔实施自动化的检测与验证。通过与无人机布孔数据的深度融合与对接，验孔机器人能够精准判定炮孔质量是否契合钻孔规范要求，并实时生成反馈数据，从而切实保障钻孔质量达到爆破作业的标准。
未来，智能炸药装填车[16]将依据无人机布孔系统所提供的精准坐标数据，实现炸药的自动化装填作业。基于布孔精度的显著提升，智能炸药装填车能够运用精密的计量与控制手段，更为精确地把控装药量，有效保障爆破效果，同时规避了传统人工装填方式下易于产生的装药量误差等问题。在炸药装填作业完成后，智能填塞车依据无人机所提供的炮孔坐标信息开展自动填塞作业[17]。凭借精准的炮孔坐标，智能填塞车能有效防止漏填或过填现象的出现，进而全方位提升爆破作业的整体成效。
然而，当前的应用仅仅是无人机激光雷达布孔技术在智能矿山建设进程中的阶段性成果。未来基于无人机激光雷达扫描技术，还可以为矿山道路更新、矿山开采规划和矿山智能决策系统提供更多的应用场景，这将进一步推动矿山作业整体智能化水平迈向新的高度，逐步实现从布孔至爆破作业完成整个流程的全自动化运行与精细化管控，为矿山开采作业的高效性、安全性与可持续性提供更为坚实的技术支撑与保障。
3　结论
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本研究探讨了无人机激光雷达布孔在爆破作业中的应用及其与传统RTK线放样布孔方法的对比。通过对两种布孔方法的布孔误差、作业效率、环境适应性和经济性进行分析，得出以下3个方面的结论。
（1）在南露天煤矿爆破布孔试验中，无人机激光扫描布孔方法可以将布孔误差缩小至0.001 m，有效规避了RTK线放样布孔方法人工操作带来的误差。
（2）在效率方面，无人机激光雷达布孔方法内外业时间70 min，相比RTK线放样布孔方法210 min的内外业时间，作业时间减少66.7%，作业覆盖能力提升了200%。同时，无人机激光扫描布孔方法对环境适应性更强，风险性更低，10年累计成本相比RTK线放样布孔方法节省1.931×106 元，整体爆破作业经济性更优。
（3）无人机激光雷达布孔技术提供的精确坐标可为智能钻机、验孔机器人、智能炸药装填车及智能填塞车等设备协同作业奠定基础。未来将实现从布孔到爆破全流程的自动化、高精度作业，极大提高了作业效率、优化了爆破效果，有力推动智能爆破技术发展，为矿山开采智能化提供重要保障。
基金
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  • 国家自然科学基金青年科学基金项目(52304127)
  • 新疆维吾尔自治区重点研究任务专项项目(2024A03001)
文献
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2025年第45卷第5期
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  • 接收时间：2024-12-19
  • 首发时间：2026-10-30
  • 出版时间：2025-05-25
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  • 收稿日期：2024-12-19
基金
国家自然科学基金青年科学基金项目(52304127)
新疆维吾尔自治区重点研究任务专项项目(2024A03001)
作者信息
    1.新疆大学 地质与矿业工程学院，新疆　乌鲁木齐　830047
    2.昌吉雪峰爆破工程有限公司，新疆　昌吉回族自治州　831500
    3.福州大学 紫金地质与矿业学院，福建　福州　350116

通讯作者:

陈辉（1985—），男，新疆伊犁人，博士，副教授，主要从事矿山爆破及安全方向的研究与教学工作。E-mail:
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
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红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
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