山东煤炭科技2024，Vol.42Issue(2)：161-165,5.DOI:10.3969/j.issn.1005-2801.2024.02.035
基于SLAM导航的煤矿井下机器人设计
Design of Coal Mine Downhole Robot Based on SLAM Navigation
赵文金 1朱子恒 1吴云雁1
作者信息
- 1. 山西潞安环保能源开发股份有限公司常村煤矿,山西 长治 046100
- 折叠
摘要
Abstract
Aiming at the problems of the difficult problem of downhole precise positioning of the robot,realizing the operation of the robot and so on,a downhole robot based on SLAM algorithm navigation is designed.The robot uses lidar to complete terrain scanning,the host equipped with Jetson Nano receives radar data to realize the functions of mapping,positioning,path planning,obstacle avoidance and so on.The singlechip receives instructions from the host to realize the speed and turning angle control of the wheel motor,thereby completing downhole exploration,mining,transportation,rescue and other work.Through laboratory testing,it is verified that the designed downhole robot can effectively achieve functions such as navigation and obstacle avoidance.关键词
井下机器人/SLAM/导航/实验测试Key words
downhole robort/SLAM/navigation/experimental testing分类
信息技术与安全科学引用本文复制引用
赵文金,朱子恒,吴云雁..基于SLAM导航的煤矿井下机器人设计[J].山东煤炭科技,2024,42(2):161-165,5.
