煤矿安全2024，Vol.55Issue(11)：210-216,7.DOI:10.13347/j.cnki.mkaq.20231703
基于激光SLAM的矿用巡检装置控制系统设计
Design of control system for mine inspection device based on laser SLAM
摘要
Abstract
In order to realize the unmanned mining of the fully mechanized mining face in the coal mine,instead of the staff to ex-plore and monitor the dangerous mining environment,we designed a control system for a mining inspection device based on laser SLAM.To meet the requirements of low power consumption and rapid parallel processing,NVIDIA Jetson AGX was chosen as the main control module,and dual communication method of WiFi and LoRa was adopted to meet different data transmission needs.The core of the driving system employs the STM32F103C8T6 microcontroller to drive the brushless DC motor by receiving instructions from the main control module.The algorithm uses non-maximum suppression to extract fine feature to achieve local maximum search,so as to locate and identify the target more accurately.Prototype tests of the inspection device control system were conducted in two different experimental environments:an indoor laboratory setting and an underground coal mine comprehensive mining work-ing face.The tests aimed to assess mapping clarity,precise positioning,and target recognition effectiveness.The experimental res-ults show that the design has excellent performance in feature extraction and other algorithms,and has high positioning accuracy,which meets the needs of practical applications.关键词
综采工作面/巡检装置/激光SLAM/双通信方式/特征提取Key words
fully mechanized working face/inspection device/laser SLAM/dual communication method/feature extraction分类
矿业与冶金引用本文复制引用
黄鹤松,任伟,高书通,李杨,营祝乐..基于激光SLAM的矿用巡检装置控制系统设计[J].煤矿安全,2024,55(11):210-216,7.基金项目
山东省重大科技创新工程资助项目(2019SDZY01) （2019SDZY01）
国家能源集团2021年度重点资助项目(GJNY-21-25) （GJNY-21-25）
