基于三维激光雷达的掘进机位姿检测方法

Position and Orientation Detection Method of Roadheader Based on Three-dimensional Lidar

为实现煤矿掘进自动化,根据煤矿巷道掘进现状,提出了一种基于三维激光雷达的掘进机动态空间位姿检测方法。在巷道迎头断面建立巷道坐标系,在机器截割回转中心建立机器坐标系,通过布置于机身不同位置的3台三维激光雷达测定巷道轮廓,采用PCL点云库算法处理雷达点云数据,实现机器回转中心在巷道坐标系中6自由度位姿检测。

In order to realize the automation of coal mine tunneling, a dynamic spatial position and orientation detection method of roadheader based on three-dimensional lidar was proposed according to the status of coal mine roadway tunneling. The roadway coordinate system is set up on the head-on section of the roadway, the machine coordinate system is set up on the center of the machine cutting rotation. The roadway profile is measured by three three-dimensional lidars arranged at different positions of the machine body, and the PCL point cloud library algorithm is used to process the radar point cloud data to realize the six-degree-of-freedom position and orientation detection of the rotary center of the machine in the roadway coordinate system.