巷道系统激光雷达特征识别理论与试验研究  

Study on Recognition Theory and Test of Lidar Character for Roadway in Coal Mine

作　　者：王宏[1,2] 宋智瀛[1] 贾瑞清[1] 

机构地区：[1]中国矿业大学(北京)机电与信息学院,北京100083 [2]黑龙江科技学院机械工程学院,哈尔滨15002

出　　处：《煤炭技术》2011年第12期7-8,共2页Coal Technology

基　　金：国家985跨学科创新平台项目支持(0705-1)

摘　　要：针对煤矿巷道系统提出一种基于激光雷达图像识别的自主导航系统。通过对煤矿巷道系统典型结构的理论分析提出煤矿巷道系统的激光雷达图的4种主要特征。分别给出了特征的数学描述和与之对应的巷道真实结构,以及机器人导航特征判断规则。实验室和地下实验巷道的试验与理论分析吻合。This thesis provides an autonomous navigation system for coal mine roadway, which is based on lidar image recognition. Firstly, after theoretically analyzing all the classic structures of coal mine roadway, it summarizes four main characters of lidar image. Secondly, this thesis talks about the mathematical descriptions, actual structures of roadway, and rules for robots assessing characters on navigation. Thirdly, an experimental platform has been designed, aimed at actual roadway structures. Finally, the feasibility of this system is validated by experiments and underground mock roadway.

关 键 词：自主导航 救援机器人 煤矿巷道 组合导航 

分 类 号：TD67[矿业工程—矿山机电] TN958[电子电信—信号与信息处理]