掘进机器人视觉定位及巷道地图重构技术研究

Research on Visual Positioning and Roadway Map Reconstruction Technology for Excavation Robot

在实现煤矿掘进工作面智能化和无人化方面,巷道环境的构建以及掘进机器人的准确定位至关重要。考虑到井下空间狭小、设备众多以及光线不足等限制因素,实现对巷道环境和设备的可视化变得复杂。解决这一难题的关键在于精准地勘测井下环境,实现设备的精确定位。以煤矿掘进机器人为研究对象,对巷道的三维重建和掘进机器人的定位问题进行了深入分析。通过比较不同的掘进机器人定位和建图方案,确定了适用于煤矿巷道的整体方案。该方案综合运用了单目视觉、激光雷达等多种传感器,为解决掘进机器人定位和巷道环境构建等难题提供了应对策略。

In achieving intelligent and unmanned coal mine excavation faces,the construction of roadway environments and the accurate positioning of excavation robot are crucial.Considering the limited factors of narrow underground space,numerous equipment,and insufficient lighting,achieving visualization of the roadway environment and equipment has become complex.The key to solving this problem lies in accurately surveying the logging environment and achieving precise positioning of equipment.Taking coal mine excavation robot as the research object,conducted in-depth analysis on the three-dimensional reconstruction of roadway and the positioning problem of excavation robot.By comparing different positioning and mapping schemes of excavation robot,the overall scheme suitable for coal mine roadway was determined.This solution comprehensively utilizes various sensors such as monocular vision and LiDAR,which provides a response strategy to solve the problems of positioning excavation robot and constructing roadway environments.