摘要
设计了一种应用于煤矿综采工作面上的防爆型巡检机器人,该机器人搭载激光雷达、惯导、车载计算机等设备。采用四驱结构,并且具有激光slam技术执行同步建图及定位功能,做到建图及定位的有机结合,并且该建图是实时的,可以用于监控。由于激光雷达的测量精度与光照无关,这对于综采工作面环境特别有优势,可以弥补视频监控在弱光条件下显示效果差、无光条件下无法使用等缺点。通过工业性试验,验证了该四驱型巡检机器人的可靠性及通过性。通过提取激光点云的特征可以求出煤壁与顶板的交线,为采煤机自动截煤提供技术支撑。
A flameproof inspection robot has been designed for use on coal mine fully mechanized mining face,which is equipped with equipment such as laser radar,inertial navigation,and onboard computer.Adopting a four-wheel drive structure and equipped with laser slam technology to perform synchronous mapping and positioning functions,achieving an organic combination of mapping and positioning.The mapping is real-time and can be used for monitoring.Due to the fact that the measurement accuracy of LiDAR is independent of lighting,it has special advantages for the environment of fully mechanized mining face.It can compensate for the shortcomings of video surveillance,such as poor display effect under weak light conditions and inability to use under no light conditions.The reliability and passability of the four-wheel drive inspection robot have been verified through industrial experiment.By extracting the features of the laser point cloud,the intersection line between the coal wall and the roof can be calculated,providing technical support for the automatic coal cutting of the shearer.
作者
鞠哲
Ju Zhe(Fushun CCTEG Testing Center Co.,Ltd.,Fushun 113122,China)
出处
《煤矿机械》
2024年第4期8-10,共3页
Coal Mine Machinery
关键词
巡检机器人
SLAM
激光点云
点云特征
无人化采煤
insepction robot
slam
LiDAR point cloud
point cloud feature
unmanned coal mining
