井下车辆激光测距-定位导航方法研究  

Research on positioning and navigation method with laser ranging for underground vehicles

作　　者：迟洪鹏[1] 李鑫[1] 臧怀壮[1] 龚兵[1] 

机构地区：[1]北京矿冶研究总院,北京100160

出　　处：《矿山机械》2015年第9期114-118,共5页Mining & Processing Equipment

基　　金：国家高技术研究发展计划(863计划)(2011AA060405)

摘　　要：由于矿山井下无轨车辆自主行走的环境条件与地面不同,根据井下无轨车辆激光测距-识别定位导航系统的原理,介绍了激光测距仪扫描巷道环境完成"摸墙走",通过检测距巷道壁的距离拟合巷道中心线,从而计算出车辆的行驶路线。设计了"条形码"路标,研究了基于激光测距仪识别条形编码路标进行的定位导航的原理及策略。仿真试验验证了所提方案的可行性,试验车辆可以顺利按照预定路线行走120 m的全程,最大误差只有15 cm,提出了井下复杂环境下组合定位导航的方法。Since the environmental conditions of autonomous trackless running of the vehicles in underground mines is different from on land, according to the principle of recognition and navigation system with laser ranging for underground vehicles, the paper introduced the laser rang finder how to scan the roadway to complete the walk as touching the wall. Via detecting the distance from the roadway wall to fit the roadway centerline, the driving route of the vehicle was calculated. In addition, barcode road signs were designed, as well as the positioning and navigation principle and strategy based on the laser range finder recognizing the barcode road signs were researched. Simulation and test were conducted to verify the proposed method, the test vehicle smoothly run as preset whole route of 120 m with the maximum error only being 15 cm. Meanwhile, combined positioning and navigation methods suitable for complex underground environments were offered.

关 键 词：车辆 激光测距 信标 定位导航 

分 类 号：TD50[矿业工程—矿山机电] TD67