摘要
煤矿生产中,瓦斯爆炸,塌方等事故时有发生,煤矿事故发生后,为了能够快速地确定伤者的位置从而进行救援,利用开源单目ORB-SLAM2算法,结合现有移动机器人平台,对移动机器人进行定位研究。分别在光线充足和有辅助光源的黑暗条件下进行模拟实验,得出了移动机器人的运动轨迹,为实际井下救援过程中的定位提供了数据基础。
Accidents such as gas explosion and collapses often occur in coal mine production,in order to quickly determine the location of the injured and carry out rescue,the localization of a mobile robot was studied by using the open source monocular ORB-SLAM2 algorithm based on the existing mobile robot platform.The simulation experiments were carried out under the sufficient light sources condition and the dark condition with auxiliary light sources respectively,and the motion trajectory of the mobile robot was obtained,which provides the data foundation for the robot localization in the actual underground rescue process.
作者
尚磊
王杰
宋尊师
李洪兵
SHANG Lei;WANG Jie;SONG Zunshi;LI Hongbing(School of Mechanical Engineering,Xinjiang University,Urumqi Xinjiang 830047, China)
出处
《机床与液压》
北大核心
2020年第11期49-52,共4页
Machine Tool & Hydraulics
