摘要
设计了一款应用于煤矿综采工作面上的巡检机器人,该机器人搭载激光雷达、惯导、车载电脑设备,以ROS为操作系统,搭建一套集控制、激光点云三维建图和视频巡检的机器人平台,可实现对综采工作面的三维建图和视频巡检。为实现点云海量数据和视频图像数据的稳定传输,采用5G+WiFi的双通信模式,充分利用各通信方式的优点,使用5G传输点云数据进行三维实时建图,使用WiFi来传输图像数据,提升综采工作面三维点云模型的生成效率。采用该设计方案不仅可以进行实时三维建图,还可以快速处理所生成的数据用于对井下工作设备的智能控制。
An inspection robot applied to the fully mechanized coal mining face was designed.The robot is equipped with laser radar,inertial navigation and on-board computer equipment.With ROS as the operating system,a robot platform integrating control,laser point cloud 3D mapping and video patrol was built,which can realize 3D mapping and video inspection of the fully mechanized mining face.In order to realize the stable transmission of massive point cloud data and video image data,adopted the 5G+WiFi dual communication mode,fully utilized the advantages of various communication modes,used 5G transmission of point cloud data for 3D real-time mapping,used WiFi to transmit image data,and improved the generation efficiency of 3D point cloud model of fully mechanized mining face.With this design scheme,not only real-time 3D mapping can be carried out,but also the generated data can be processed quickly for intelligent control of underground working equipment.
作者
吴方朋
亓玉浩
任伟
Wu Fangpeng;Qi Yuhao;Ren Wei(Beijing Tianma Intelligent Control Technology Co.,Ltd.,Beijing 101399,China;Yankuang Energy Group Co.,Ltd.,Jining 273500,China)
出处
《煤矿机械》
2023年第5期1-4,共4页
Coal Mine Machinery
基金
山东省重大科技创新工程项目(2020CXGC011501)
国家能源集团2021年度重点项目(GJNY-21-25)。
