Evaluation of a Hand-held 3D Laser Scanner for Change Detection and Discontinuity Characterization**

在任何岩土工程项目的早期阶段，从现有岩石暴露中获得有关岩体工程特性和结构的信息。静态地面遥感（TRS）技术，如三维激光扫描是岩土工程数据收集的常用工具。机器人技术的最新进展导致了基于同时定位和地图绘制（SLAM）算法的移动的地图绘制系统的开发。基于SLAM的激光扫描系统允许快速分析和映射结构。然而，在如何在活跃的采矿环境中有效地部署这一技术方面存在知识差距，因为在活跃的采矿环境中，数据收集的时间和空间往往有限。Clickmox Solution Inc.（萨德伯里，ON）在机器人和3D激光扫描领域为地下采矿业开发产品并提供服务。Clickmox正在考虑扩大其服务并增强其产品的应用，以改变地下和露天矿山的检测和不连续性表征。该项目的第一个目标是确定其基于SLAM的激光扫描仪用于变化检测和变形监测的精度。为此，扫描仪将首先在达尔豪西大学的受控实验室环境下进行评估。进一步的实验将涉及扫描岩石边坡的表面，以更好地了解该系统应如何在现场条件下操作，以达到声称的精度。下一步，将对扫描仪进行岩石不连续性表征评估。拟议项目的结果将使Clickmox能够将其服务扩展到岩体表征，作为地表和地下采矿地质力学设计的一部分。该项目的结果也可能为Clickmox开发适用于恶劣采矿环境的更高精度的新产品提供可能性，从而加强其作为加拿大开发商的地位。随着激光扫描技术越来越多地应用于采矿和民用工业，该项目将为高素质人员（HQP）的培训提供一个强大的平台。

In the early stages of any geotechnical project, information on the engineering properties and structure of the rock mass from existing rock exposures is obtained. Static Terrestrial Remote Sensing (TRS) techniques such as 3D laser scanning are common tools for geotechnical data collection. Recent advancements in robotics have led to the development of mobile mapping systems based on the Simultaneous Localization and Mapping (SLAM) algorithm. SLAM-based laser scanning systems allow for rapid profiling and mapping structures. However, there is a knowledge gap concerning how to effectively deploy this technology in active mining environments, where time and space for data collection are often limited. Clickmox Solution Inc. (Sudbury, ON) develops products and provides services to the underground mining industry in the areas of robotics and 3D laser scanning. Clickmox is looking into expanding their services and enhancing the application of their products to change detection and discontinuity characterization in both underground and surface mines. The first objective of this project is to determine the accuracy of their SLAM-based laser scanner for change detection and deformation monitoring. For this purpose, the scanner will be first evaluated under a controlled laboratory setting at Dalhousie University. Further experiments will involve scanning the face of a rock slope to better understand how this system should be operated under field conditions to achieve the claimed accuracy. In the next step, the scanner will be assessed for rock discontinuity characterization. The results of the proposed project will enable Clickmox to expand their services to rock mass characterization as part of geomechanical designs for both surface and underground mining. The results of this project may also open possibilities for Clickmox to develop new products with higher accuracy suitable for harsh mining environments, leading to strengthening their status as a developer in Canada. This project will provide a strong platform for the training of Highly Qualified Personnel (HQP), as laser scanning technology is being increasingly used in mining and civil industries.**********