CN110058587B - 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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- CN110058587B CN110058587B CN201910201520.1A CN201910201520A CN110058587B CN 110058587 B CN110058587 B CN 110058587B CN 201910201520 A CN201910201520 A CN 201910201520A CN 110058587 B CN110058587 B CN 110058587B
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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
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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
- G05D1/0231—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
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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
- G05D1/0268—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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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 CN110058587A (zh) | 2019-07-26 |
CN110058587B true CN110058587B (zh) | 2022-09-13 |
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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 |
CN115100622B (zh) * | 2021-12-29 | 2023-09-22 | 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 (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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*** |
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 |
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DE102016214868A1 (de) * | 2016-08-10 | 2018-02-15 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Erstellen oder Ergänzen einer Karte für ein Kraftfahrzeug |
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*** |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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*** |
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 |
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一种新的自主移动机器人主动式SLAM算法;王晓华;《***工程与电子技术》;20121130;第34卷(第11期);2334-2338 * |
双目视觉下的SLAM三维场景建图及物体识别研究;周全;《万方学位论文库》;20181218;9-23、28-33、43-51 * |
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