摘要
目前煤矿综采工作面采用基于视频的远程监控存在无法精确得到监控目标的坐标,这种远程监控可靠性低,要实现完全的无人化采煤必须增加监控对象的精确坐标信息,提出一种新的基于激光雷达的同步建图及定位技术,能同时建三维点云地图并且确定激光雷达载体坐标系的精确位姿。利用惯导融合激光雷达,采用非线性优化技术,实时纠正位姿偏差,确保轨迹及所建三维点云地图的精确性。试验结果表明,该方法能在井下巷道这种环境下实现高精度的定位及建图。
At present, video based remote monitoring is used in fully mechanized coal mining face,which can not accurately get the coordinates of monitoring targets. This remote monitoring has low reliability. In order to realize completely unmanned coal mining, it is necessary to increase the accurate coordinate information of monitoring objects. A new synchronous mapping and location technology based on lidar was proposed, at the same time, it can build 3 D point cloud map and determine the precise pose of lidar carrier coordinate system. In order to ensure the accuracy of the trajectory and the3 D point cloud map, inertial navigation fusion lidar and nonlinear optimization technology were used to correct the pose deviation in real time. The experimental results show that the method can achieve high precision location and mapping in the underground environment.
作者
崔志芳
Cui Zhifang(Shanxi Xinyuan Coal Co.,Ltd.,Souyang 045000,China)
出处
《煤矿机械》
2021年第7期28-29,共2页
Coal Mine Machinery
基金
国家重点研发计划项目(2017YFC0804308)。
关键词
同步建图与定位
点云
建图
定位
多传感器融合
synchronous mapping and location
point cloud
mapping
location
multi-sensor fusion
