10:35 〜 10:55
[3201-08-05] Unmanned Aerial Vehicle-Based Mapping and Modeling system in Inaccessible Underground Inaccesible Area
司会：久保 大樹（京都大学）
キーワード：Unmaned Aerial Vehicle , Photogrammetry and 3D reconstruction, Mapping and modelling, Underground inacessible area, 360-degree camera
After production blasts in mines, rock masses can become unstable due to excessive vibrations. Data collection in underground mines usually requires inspectors to survey the rocks physically. The significant risk of ground collapse and inadequate ground support in underground mining environments, such as open shafts and newly blasted working faces, endangers the safety of personnel. Drones are the best suitable tools to be used in inaccessible, dangerous areas. For difficult locations, 3D point clouds can be produced by merging unmanned aerial vehicles with technologies like photogrammetry. With the use of a 3D digital point cloud, one may get important geotechnical data, including the capacity to detect discontinuities, examine the state of the rock, produce precise volume calculations, and acquire a georeferenced geometry of the inaccessible aperture while staying outside of dangerous regions. Without the need for human assistance, drones with LIDAR technology in mines may quickly and accurately gather vast volumes of data in hazardous conditions without the need for human interaction. Although the technology is incredible and extremely accurate, it only collects data in the colours red, green, and blue and is costly. Thus, the goal of this research is to design a system that can generate a 3D model by employing a consumer drone equipped with a 360-degree camera to gather high-accuracy data in an underground mine at a reasonable cost. To create the system, a photogrammetry system for collecting high-resolution data in an underground mine was built first. A system was created by integrating it with a drone that can fly safely in an underground mine. The Phantom 4 Pro V2.0 drone with a 360-degree camera successfully entered the inaccessible underground environment and successfully completed this task. The results highlight that a 3D model can reconstruct this system in underground, inaccessible areas.