地下采矿车辆的强大的定位:在房间和柱子矿井中的应用
Felipe Inostroza1, Isao Parra-Tsunekawa1, Javier Ruiz-Del-Solar1,2
1Advanced Mining Technology Center, Universidad de Chile, Santiago 8370451, Chile.
Sensors (Basel, Switzerland)
|October 14, 2023
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.
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.
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