CN110058587A - 基于slam技术的煤矿综采面巡视无人车以及自主巡视的方法 - Google Patents
基于slam技术的煤矿综采面巡视无人车以及自主巡视的方法 Download PDFInfo
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- CN110058587A CN110058587A CN201910201520.1A CN201910201520A CN110058587A CN 110058587 A CN110058587 A CN 110058587A CN 201910201520 A CN201910201520 A CN 201910201520A CN 110058587 A CN110058587 A CN 110058587A
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- 239000003245 coal Substances 0.000 title claims abstract description 100
- 238000007689 inspection Methods 0.000 title claims abstract description 49
- 238000005065 mining Methods 0.000 title claims abstract description 19
- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007613 environmental effect Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 5
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims 1
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 239000003818 cinder Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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Priority Applications (1)
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CN201910201520.1A CN110058587B (zh) | 2019-03-18 | 2019-03-18 | 基于slam技术的煤矿综采面巡视无人车以及自主巡视的方法 |
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CN201910201520.1A CN110058587B (zh) | 2019-03-18 | 2019-03-18 | 基于slam技术的煤矿综采面巡视无人车以及自主巡视的方法 |
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CN110058587A true CN110058587A (zh) | 2019-07-26 |
CN110058587B CN110058587B (zh) | 2022-09-13 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113589825A (zh) * | 2021-08-23 | 2021-11-02 | 内蒙古白音华蒙东露天煤业有限公司 | 露天煤矿车用基于电子地图的驾驶辅助***及预警方法 |
WO2023123642A1 (zh) * | 2021-12-29 | 2023-07-06 | 中国矿业大学 | 深部受限空间无人运输设备可行驶域检测和自主避障方法 |
Citations (5)
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CN105573310A (zh) * | 2014-10-11 | 2016-05-11 | 北京自动化控制设备研究所 | 一种煤矿巷道机器人定位与环境建模方法 |
CN107015193A (zh) * | 2017-04-18 | 2017-08-04 | 中国矿业大学(北京) | 一种双目ccd视觉矿井移动目标定位方法及*** |
CN107193279A (zh) * | 2017-05-09 | 2017-09-22 | 复旦大学 | 基于单目视觉和imu信息的机器人定位与地图构建*** |
CN107727066A (zh) * | 2016-08-10 | 2018-02-23 | 大众汽车有限公司 | 用于创建或补充机动车的地图的方法和设备 |
CN108345305A (zh) * | 2018-01-31 | 2018-07-31 | 中国矿业大学 | 无轨胶轮车智能车载***、井下车辆调度***和控制方法 |
-
2019
- 2019-03-18 CN CN201910201520.1A patent/CN110058587B/zh active Active
Patent Citations (5)
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---|---|---|---|---|
CN105573310A (zh) * | 2014-10-11 | 2016-05-11 | 北京自动化控制设备研究所 | 一种煤矿巷道机器人定位与环境建模方法 |
CN107727066A (zh) * | 2016-08-10 | 2018-02-23 | 大众汽车有限公司 | 用于创建或补充机动车的地图的方法和设备 |
CN107015193A (zh) * | 2017-04-18 | 2017-08-04 | 中国矿业大学(北京) | 一种双目ccd视觉矿井移动目标定位方法及*** |
CN107193279A (zh) * | 2017-05-09 | 2017-09-22 | 复旦大学 | 基于单目视觉和imu信息的机器人定位与地图构建*** |
CN108345305A (zh) * | 2018-01-31 | 2018-07-31 | 中国矿业大学 | 无轨胶轮车智能车载***、井下车辆调度***和控制方法 |
Non-Patent Citations (2)
Title |
---|
周全: "双目视觉下的SLAM三维场景建图及物体识别研究", 《万方学位论文库》 * |
王晓华: "一种新的自主移动机器人主动式SLAM算法", 《***工程与电子技术》 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113589825A (zh) * | 2021-08-23 | 2021-11-02 | 内蒙古白音华蒙东露天煤业有限公司 | 露天煤矿车用基于电子地图的驾驶辅助***及预警方法 |
WO2023123642A1 (zh) * | 2021-12-29 | 2023-07-06 | 中国矿业大学 | 深部受限空间无人运输设备可行驶域检测和自主避障方法 |
US20230305572A1 (en) * | 2021-12-29 | 2023-09-28 | China University Of Mining And Technology | Method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces |
US11880208B2 (en) | 2021-12-29 | 2024-01-23 | China University Of Mining And Technology | Method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces |
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Inventor after: Zhao Shuanfeng Inventor after: Tang Zenghui Inventor after: Wang Chao Inventor after: He Haitao Inventor after: Guo Wei Inventor after: Wang Yuan Inventor before: Zhao Shuanfeng Inventor before: Wang Chao Inventor before: He Haitao Inventor before: Guo Wei Inventor before: Wang Yuan |
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