Coal mine tunnel inspection robot system integrating monocular vision and IMU and navigation method

Abstract

The invention discloses a coal mine tunnel inspection robot system integrating monocular vision and IMU and a navigation method, and belongs to the technical field of machine vision and robot navigation. The system comprises a monocular camera, an inspection robot, an airborne inertial measurement unit, an airborne processor and an illuminating lamp, the inspection robot carrier is used for carrying equipment such as the airborne processor and the illuminating lamp to form a hardware part of the navigation system; the monocular camera is used for shooting a high-definition picture of an underground coal mine roadway to form a data acquisition part of the system; the airborne inertial measurement unit is fused with the monocular camera, and scale information is obtained after alignment; andthe illuminating lamp is used for illuminating the interior of a roadway, so that the monocular camera imaging quality is improved; and the airborne processor is used for image processing, yaw anglecalculation of the inspection robot and robot attitude calculation. The coal mine tunnel inspection robot system integrating monocular vision and IMU and the navigation method have the advantages thata navigation scheme integrating vision and inertial sensors is adopted, higher precision is achieved, the structural characteristics of narrow and long spaces such as roadways are combined, and the real-time performance of the inspection robot can be met through intersecting line detection.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a coal mine roadway inspection robot system and a navigation method which integrate monocular vision and IMU. Background technique [0002] The environment of coal mine underground roadway is harsh, and various accidents and disasters occur from time to time. Coal mine safety robots have become a part of coal mine safety infrastructure. [0003] A variety of harmful gases will be released during coal mining. If these gases are not monitored in time, it will bring huge safety hazards to production. The inspection robot can detect these gases in a timely and effective manner by carrying up to 6 gas detection sensors. The space in the roadway is narrow and the distance is long. As a life passage for equipment to enter and exit and people to pass through, how to reduce the laying of navigation equipment, according to the actual situation of the roadway and reduce the occupa...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to provide a coal mine roadway inspection robot system and navigation method that integrates monocular vision and IMU, solve the recovery of the monocular camera scale in navigation, improve the influence of the limited illumination of the roadway on the imaging of the monocular camera, and quickly solve the problem. Problems with Intersection Detection and Yaw Angle Calculation for Robot Navigation

Images