Method for positioning and environment modeling of coal mine tunnel robot
A technology of robot positioning and modeling methods, applied in the field of navigation control of intelligent mobile robots, can solve problems such as difficult measurement work, complex environment, and endangering the safety of measurement personnel
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[0044] The present invention is described in detail below in conjunction with accompanying drawing and example:
[0045]The control principle of coal mine roadway detection robot is as follows: figure 1 shown. Internal sensors include odometry and an inertial navigation system to measure the robot's displacement and attitude. External sensors include laser radar, camera, ultrasonic ranging sensor, and infrared ranging sensor. Among them, laser radar and camera are used to directly perceive environmental information, and ultrasonic and infrared ranging sensors are used for emergency obstacle avoidance. The on-board computer is used to collect information from various sensors, process the information, make decisions, and send control instructions to the drive unit.
[0046] The algorithm principle of the information collection and processing module is as follows: figure 2 shown. The internal sensor odometer and inertial navigation system obtain the current position and head...
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