激光SLAM技术在露天电铲智能采矿中的应用  

Application of Laser SLAM Technology in Intelligent Mining of Open-pit Electric Shovel

作　　者：岳海峰 程鹏 张柏荣 贾泽仪 Yue Haifeng;Cheng Peng;Zhang Bairong;Jia Zeyi(National Key Laboratory of Intelligent Mining Equipment Technology,Taiyuan Shanxi 030031,China;Shanxi Tai Heavy Intelligent Mining Equipment Technology Co.,Ltd.,Taityuan Shanxi 030031,China;Taiyuan Heavy Industry Technology Center,Taiyuan Shanxi 030031,China)

机构地区：[1]智能采矿装备技术全国重点实验室,山西太原030031 [2]山西太重智能采矿装备技术有限公司,山西太原030031 [3]太原重工技术中心,山西太原030031

出　　处：《机械管理开发》2025年第1期260-262,共3页Mechanical Management and Development

基　　金：山西省揭榜招标项目“无人操作大型矿用机械正铲式挖掘机研制”(20191101014)。

摘　　要：介绍了SLAM技术基本原理及代表性的应用领域,比较了以传感器类型分类的视觉SALM和激光SLAM的优劣势,分析了目前露天智能采矿电铲矿车采用的卫惯组合RTK差分定位方法以及实践中存在的问题,然后针对问题阐述了融合卫惯组合构建底图的激光SLAM定位技术在露天电铲采矿中的具体应用,基于融合的定位方法将电铲、矿车同步定位,同时通过实时点云数据,进行物料面识别、车型是识别,获取矿车位姿,完成自主装载。This article first introduces the basic principles and representative application fields of SLAM technology,compares the advantages and disadvantages of visual SALM and laser SLAM based on sensor type classification.Secondly,it introduces the RTK differential positioning method used by the current open-pit intelligent mining electric shovel and mining vehicle,as well as the problems in practice.Then,it elaborates on the specific application of laser SLAM positioning technology that integrates satellite inertial combination to construct a base map in open-pit electric shovel mining.Finally,based on the fusion positioning method,the electric shovel and mining vehicle are synchronously positioned.Through real-time point cloud data,material surface recognition and vehicle type recognition are carried out to obtain the mining vehicle pose and complete autonomous loading.

关 键 词：激光SLAM技术 露天电铲采矿 定位 

分 类 号：TD67[矿业工程—矿山机电] TN958.98[电子电信—信号与信息处理]