煤矿救灾机器人的惯性/视觉组合导航方法研究  

Inertial/computer-vision integrated navigation for the coalmine rescue robot

作　　者：朱晓飞[1] 

机构地区：[1]中国矿业大学机电学院,江苏徐州221116

出　　处：《矿山机械》2010年第4期12-14,共3页Mining & Processing Equipment

摘　　要：针对机器人在煤矿灾后进行环境探测及救援中的应用,研究了切平面捷联惯导方案、视觉导航方案、惯性/视觉组合导航方案,使救灾机器人能够实现定位和导航功能,进而完成矿井信息的采集及遇险矿工的搜寻。并且,视觉/惯性组合导航系统还能使煤矿救灾机器人的导航精度有很大的提高。For the application of the robot to the environmental detection and the rescue after the coalmine misadventure, schemes of the strapdown inertial navigation on tangent, the computervision navigation and the inertial/ computer-vision integrated navigation are studied in this paper, which makes the rescue robot have the positioning and negative function so as to achieve the collection of the mine information and search the miners in danger. Moreover, the inertial/computer-vision integrated navigation could improve the negative accuracy greatly.

关 键 词：煤矿 救灾机器人 立体视觉 惯性导航 组合导航 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]