通信学报2020，Vol.41Issue(2)：58-65,8.DOI:10.11959/j.issn.1000-436x.2020042
掘进机精准定位方法与掘进机器人系统
Precisely positioning method for roadheaders and robotic roadheader system
摘要
Abstract
To overcome the problems faced in underground positioning, the robotic roadheader mine Internet of things (IoT) was designed which connected multi sensors, surveying devices and industrial computers, and a novel positioning method was developed, based on which a robotic roadheader system was built. The robotic roadheader system was employed for real-world tunnel cutting. The experimental results verifies the high accuracy of the positioning method, which achieves an RMSE error less than 5 cm, and the robust running of the robotic roadheader indicates that the robotic roadheader system can precisely perceive the surrounding environment and make precise interaction with the working environment, which yield a safety, high efficiency, and precisely underground tunnel building and coal mining and an unmanned working surface.关键词
掘进机器人/矿山物联网/井下精准定位/精确感知Key words
robotic roadheader/mine IoT/underground precise positioning/precise perception分类
信息技术与安全科学引用本文复制引用
卢新明1,2,闫长青3,袁照平4..掘进机精准定位方法与掘进机器人系统[J].通信学报,2020,41(2):58-65,8.基金项目
国家重点研发计划基金资助项目(No.2017YFC0804406) （No.2017YFC0804406）
