Mine use rail type routing inspection robot and positioning method thereof

Abstract

The invention relates to a mine use rail type routing inspection robot and a positioning method thereof. Constraint information of a track plotting module, a positioning site information detection module and an environment information recognition module is collected; a comprehensive information processing and positioning module is used for performing incremental smoothing processing so as to obtain the robot position estimation; the regulation can be performed according to the positioning precision requirements and the practical work conditions; the used label quantity can be greatly reduced;the positioning precision can still be ensured under the conditions of high noise of partial sensors and short period failure of detection information; the reliable positioning under the complicated severe conditions such as dust, smoke and water vapor can be met; meanwhile, the uncertainty of any position in the current moment operation track can be obtained, so that the precision detection and warning of the routing inspection robot on the environment information and equipment with potential safety hazards can be realized.

Description

technical field [0001] The invention relates to a mine track-type inspection robot and a positioning method thereof, belonging to the technical field of coal mine mobile equipment. Background technique [0002] Coal is the main energy source in our country, and the safe production of coal is an important link related to national energy security and the national economy and people's livelihood. In the process of coal mine production, natural factors such as dust, gas, wind speed, and rock burst are unsafe factors faced by underground operations. The status monitoring of production and monitoring equipment such as belt conveyors, scraper conveyors, and substation instruments is an important link to ensure safe production and efficient operations in underground mines. The track-type inspection robot uses the mobile platform to carry various sensors to obtain key information such as video, audio, gas, wind speed, etc., and moves continuously on the track to observe natural cond...

AI Technical Summary

Problems solved by technology

Due to the complex underground environment, the track may have working conditions such as turning and climbing, and some sections of the track may need to be designed as special-shaped tracks according to the requirements of the detection task. The surveying and mapping of the track itself is inconvenient, which is not conducive to determining the relative and absolute position information of various positioning stations. , the workload of absolute position surveying and mapping for all positioning stations is heavy

At the same time, there must be errors in converting the relative position on the track to the global coordinate system of the roadway, and it is difficult or even impossible to map

In addition, the above-mentioned various orbital robot positioning methods cannot obtain the uncertainty of any position on the historical trajectory of the robot, and cannot quantitatively describe the position status information of the robot.

Due to the complexity of the underground environment, it is impossible to achieve long-term accurate and robust positioning capabilities by relying on a single type of positioning method. At present, the research on positioning methods for such application sites at home and abroad is still in its infancy.

[0013] To sum up, there is currently no orbital inspection robot positioning method that can meet the requirements of obtaining three-dimensional coordinates in complex environments such as underground dust and water vapor, and is accurate, robust, low-cost, and easy to deploy.

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