Underground high-precision navigation map establishment system and establishment method

Abstract

The invention relates to an underground high-precision navigation map establishment system and an establishment method. On the basis of the system comprising an underground geographic information system, an intrinsically safe modeling device and each intrinsically safe ultra wide band (UWB) anchor node which is set in each underground tunnel, the establishment method is further designed and introduced. According to the whole design, an underground high-precision navigation map can be rapidly established, environment model functions can be dynamically updated, a modeling result is input into the underground geographic information system, and a multilayer map model capable of providing auxiliary positioning and route planning for automatic movement of vehicles underground is established.

Description

technical field [0001] The invention relates to an underground high-precision navigation map construction system and a construction method, belonging to the technical field of coal mine environment modeling. Background technique [0002] Automation and intelligence are the development trend of underground mobile equipment, and positioning and navigation technology is the key to achieve the above goals. At present, the underground positioning technology mainly focuses on the positioning of track-type equipment such as coal shearers, scraper machines, and mine cars, as well as personnel positioning. Usually, encoders or inertial devices are used for dead reckoning and radio frequency positioning. Underground construction equipment and robots currently used for support, rock drilling, loading, shoveling, drilling, gas extraction, coal mining and rescue still mainly rely on manual driving or remote control operation, which is highly dangerous and labor-intensive. Auxiliary tran...

AI Technical Summary

Problems solved by technology

However, this type of technology usually requires expensive high-precision, multi-type sensors to provide accurate positioning information, and relies on sensor fusion technologies such as GPS and visual cameras. However, these sensors cannot be directly used in coal mines or have poor results due to the limitations of the working environment.

At present, the laser scanner used in the field of environmental surveying and mapping for roadway deformation measurement and roadway environment modeling has high precision, but it is expensive and must be scanned by a single point to complete the modeling through post-splicing, and the work efficiency is low.

When the existing laser SLAM-based method is used to model coal mine roadways, due to complex scenarios such as degeneration and dynamics in the mine roadway, the modeling accuracy is low, and it cannot meet the positioning and navigation requirements of autonomous mobile devices.

To sum up, there is currently no dedicated map construction method and system that can satisfy the positioning and navigation of underground autonomous mobile equipment.

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