A Coal Mine Roadway Robot Positioning and Environment Modeling Method

A technology of robot positioning and coal mine roadway, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as endangering the safety of surveyors, harsh underground conditions, and difficult surveying work

Active Publication Date: 2020-06-26
航天科工智能机器人有限责任公司
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Problems solved by technology

[0004] The environment of underground tunnels in coal mines is complex, especially when accidents such as collapses and gas explosions occur in coal mines, the underground conditions are very harsh, which brings great difficulties to the survey work and even endangers the safety of surveyors

Method used

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  • A Coal Mine Roadway Robot Positioning and Environment Modeling Method
  • A Coal Mine Roadway Robot Positioning and Environment Modeling Method
  • A Coal Mine Roadway Robot Positioning and Environment Modeling Method

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Embodiment Construction

[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 1shown. 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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Abstract

The invention provides a method which is suitable for autonomous positioning and environment modeling of a ground mobile robot in a coal mine underground tunnel environment. The method comprises the following steps of executing a robot combined positioning algorithm; 2) performing positioning correction based on environment information; and 3) executing a robot 3D environment modeling method. The method is advantageous in that a three-dimensional model of the tunnel can be automatically generated through a coal mine tunnel measurement mobile robot; the downhole tunnel and the space relationship of the downhole tunnel can be visually and accurately represented in a three-dimensional manner; and furthermore the method has positive meaning for guiding field production and training safe production for miners.

Description

technical field [0001] The invention belongs to a navigation control method for an intelligent mobile robot, and in particular relates to a method suitable for autonomous positioning and environment modeling of a ground mobile robot in an underground tunnel environment of a coal mine. Background technique [0002] Intelligent mobile robot is a kind of robot system that can perceive the environment and its own state through sensors, and realize the goal-oriented autonomous navigation movement in the environment with obstacles, so as to complete the predetermined task. In order to realize the robot's autonomous navigation movement, it is necessary to solve a series of problems such as trajectory planning, motion control, environment modeling, and real-time positioning. [0003] The 3D model of coal mine roadway can reflect the underground roadway and its spatial relationship three-dimensionally and accurately. It is of positive significance for guiding on-site production, trai...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 王芳马娟荣吕翀吕博
Owner 航天科工智能机器人有限责任公司
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