选矿智能巡检机器人VSLAM导航技术研究

Research on VSLAM Navigation Technology of Intelligent Inspecting Robot in Mineral Processing

机器人巡检是矿业领域替代人工巡检的有效途径,具有不间断采集、监测和分析设备生产数据等功能。由于选矿车间工况复杂,进而影响到选矿机器人在导航上存在适应性差、定位精度低等问题,严重影响其工业应用。针对选矿厂特殊工况条件,本文提出了一种VSLAM视觉导航技术,通过双目摄像机和深度传感器进行地图实时构建和定位功能,使机器人快速高效的完成巡检工作,提高巡检效率和管理智能化水平。

Robot inspection is an effective way to replace manual inspection in mining field.It has the functions of continuous collection,monitoring and analysis of equipment production data.Due to the com-plex working conditions in the mineral processing plant,issues like poor adaptability and low positioning accuracy in the navigation of the mineral processing robot are affected,which impacts its industrial appli-cation significantly.Factoring into the special working conditions of the process plant,a VSLAM visual navigation technology is proposed in this paper.Via binocular camera and depth sensor,the real-time map construction and positioning function can be carried out,so that the robot can complete the inspec-tion work quickly and efficiently,thus enhancing the inspection efficiency and intelligent management level.