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Quarrying is the process of extracting stone from a quarry, where specialized techniques are employed to remove large blocks of stone safely and efficiently. This process can involve controlled explosions or more precision-oriented methods such as cutting and drilling.
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The concrete is placed as close as possible to its final position to avoid segregation. The placed concrete is then fully compacted to expel the entrapped air, and the next layer of concrete is laid while the underlying layer is still in the plastic state. The rate at which concrete is placed and compacted is kept equal.
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During the 1950s, the landmark Robbers Cave experiment demonstrated that when groups must compete with one another, intergroup conflict, hostility, and even violence may result. At the Oklahoman summer camp, two troops of boys—termed the Rattlers and the Eagles—took part in a week-long tournament. During this time, their negativity culminated in derogatory name-calling, fistfights, and even vandalism and destruction of property. However, this work also revealed that such tension...
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  • 1Advanced Mining Technology Center, Universidad de Chile, Santiago 8370451, Chile.

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概括

这项研究引入了一种新的方法,用于使用3D LIDAR和3D SLAM创建地下矿山的准确2D地图. 这增强了采矿车辆的自主导航,例如载荷运输倾倒 (LHD) 机器.

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科学领域:

  • 机器人技术和自主系统
  • 地理空间绘图和勘测
  • 采矿工程 采矿工程 采矿工程

背景情况:

  • 目前地下采矿的自主导航依赖于二维激光雷达和地图,这些地图与具有显著高度变化的环境作斗争.
  • 现有的二维绘图方法往往无法准确地呈现复杂的地下矿山环境.

研究的目的:

  • 提出和验证一种新的方法来生成和更新地下道的2D网格地图,使用3D LIDAR和3D SLAM与2D绘图技术相结合.
  • 克服现有的仅2D绘图系统在准确地表示不同高度的环境方面的局限性.

主要方法:

  • 将3D LIDAR数据和3D同时定位和映射 (SLAM) 算法与传统的2D映射方法集成.
  • 开发一种增强的二维地图制作过程,能够处理地下道的高度变化.

主要成果:

  • 提议的增强2D地图构建方法与传统的仅2D方法相比,显示出优越的绘图性能.
  • 生成的2D地图为自动驾驶汽车提供了强大的2D定位.
  • 在德国Werra矿在现实操作环境中成功测试了该方法.

结论:

  • 3D LIDAR和3D SLAM的联合使用显著提高了地下矿山2D地图生成的准确性和稳定性.
  • 改进的绘图方法使得采矿车辆的可靠自主导航和操作成为可能,例如在各种采矿条件下自主运载卸载 (LHD) 车辆.